Detection of robustly collision-free trajectories in unpredictable environments in real-time

摘要: One of the ultimate goals in robotics is to make robots high degrees freedom (DOF) work autonomously real world environments. However, environments are unpredictable, i.e., how objects move usually not known beforehand. Thus, whether a robot trajectory collision-free or has be checked on-line based on sensing as moves. Moreover, order guarantee safe motion, motion uncertainty taken into account. This paper introduces general approach detect if high-DOF continuously even presence an unpredictable environment time. Our method novel concept dynamic envelope, which takes advantage progressive over time without predicting motions assuming specific object patterns. The introduced can used by real-time planners check candidate and robustly (i.e., spite motion).