Onlinefähige Trajektorienplanung für Handhabungssysteme in veränderlichen Umgebungen mit Hilfe der Kurvenflussmethode

Projekttitel

Onlinefähige Trajektorienplanung für Handhabungssysteme in veränderlichen Umgebungen mit Hilfe der Kurvenflussmethode

Thematische Stichwörter

Trajektorienplanung, Kurvenflussmethode, veränderliche Umgebung

Kurzbeschreibung/Abstract

In highly flexible and complex handling systems the risk of collision of moving machine compo-nents is continuously increasing. When, for example, several robots share the same workspace and the environment in the workspace is changing due to the operation, the robot trajectories can no longer be planned in advance without the risk of collision. The objective of this project is the collision-free and highly efficient motion planning of industrial robots from start to end position within a changing environment during the operation time.

This can be achieved with a new approach for trajectory planning in the configuration space, which combines mathematical curve flows for the evolution of a given initial trajectory in order to shorten the path length with the well-known potential-field method for modeling the repulsive effect of obstacles on the trajectory by virtual force fields. So this approach, which we call the "Curve Shortening Flow Method" can be described as an optimization problem: "Minimizing the curve length while maximizing the distance to the obstacles.

We are able to formulate this demand as a time-varying partial differential equation which, after a convenient discretization, can be solved very efficiently and time-deterministically by explicit time integration, which serves as a basis for real-time trajectory planning.

Ansprechpartner

• Dipl.-Ing. Marcel Huptych