AUGMENTING AN EDUCATIONAL AND RESEARCH HUMAN ROBOT INTERACTION ENVIRONMENT WITH A MULTI-OBSTACLE AVOIDANCE ALGORITHM

摘要

In this manuscript, the development and current state of an inexpensive platform for educational purposes and research in the interaction between humans and robots (human-robot interaction) is described. The platform is based on the ubiquitous Lab VIEW programming language and an in-house developed two degree of freedom non-holonomic robot. The platform includes multiple interaction modalities, which will be described, between the robot and the user. The procedures followed for the successful software and hardware implementation are explicated. Furthermore, a demonstration of an obstacle avoidance path planning algorithm for a single obstacle is validated in hardware, as well as simulation demonstration of the multiple obstacle avoidance algorithm. These implementations to the platform further demonstrate the ease of augmenting the existing platform to additional modalities. The algorithm uses a vision acquisition system to identify the location and size of an obstacle, in addition to orientation patterns and calibration points, in the workspace and generate the robot path to reach a desired goal while avoiding the obstacle. The manuscript describes into the current research of path planning in the presence of multiple obstacles. The development of a set of criteria, Generation Succession, Arrival Departure, and Side Consistency, for the algorithm are elucidated in the manuscript. The algorithm has been demonstrated to be successful in simulation by avoiding multiple obstacle in various layouts.