Collision-Free Path Planning in Dynamic Environment Using High-Speed Skeleton Tracking and Geometry-Informed Potential Field Method

摘要

In recent years, the realization of a society in which humans and robots coexist has become highly anticipated. As a result, robots are expected to exhibit versatility regardless of their operating environments, along with high responsiveness, to ensure safety and enable dynamic task execution. To meet these demands, we design a comprehensive system composed of two primary components: high-speed skeleton tracking and path planning. For tracking, we implement a high-speed skeleton tracking method that combines deep learning-based detection with optical flow-based motion extraction. In addition, we introduce a dynamic search area adjustment technique that focuses on the target joint to extract the desired motion more accurately. For path planning, we propose a high-speed, geometry-informed potential field model that addresses four key challenges: (P1) avoiding local minima, (P2) suppressing oscillations, (P3) ensuring adaptability to dynamic environments, and (P4) handling obstacles with arbitrary 3D shapes. We validated the effectiveness of our high-frequency feedback control and the proposed system through a series of simulations and real-world collision-free path planning experiments. Our high-speed skeleton tracking operates at 250 Hz, which is eight times faster than conventional deep learning-based methods, and our path planning method runs at over 10,000 Hz. The proposed system offers both versatility across different working environments and low latencies. Therefore, we hope that it will contribute to a foundational motion generation framework for human–robot collaboration (HRC), applicable to a wide range of downstream tasks while ensuring safety in dynamic environments.