ROBOT MOTION PLANNING FOR AVOIDING COLLISION WITH MOVING OBSTACLES

摘要

A method for path and/or trajectory planning for at least one mobile or fixed robot (R1) comprising the steps of:- Providing (S10) a start configuration comprising at least one start position (x1,y1) and a destination configuration comprising at least one destination position (x3,y1) for the robot;- Providing (S20) a motion of at least one obstacle (O) and/or a further robot (R2) in the workspace of the first robot (R1), defining a position varying over time of the obstacle (x3,y1 ; x1,y1) and/or further robot (x3,y2 ; x1,y2); and- Determining (S30, S60) a path and/or trajectory of the first robot (R1) and the further robot (R2) from its start configuration to its destination configuration, wherein at each point in time a distance between the first robot (R1) and the obstacle (o) and/or the further robot (R2) does not fall below a predetermined threshold, so that a collision is avoided.