Optimal Safe Planning using a Danger Evaluation Method

N. Najmaei and M.R. Kermani (Canada)


Safe Planning, Danger Evaluation, Danger Index, Human Robot Interactions, Optimization


This article presents the results of a study on a safe planning strategy for robot manipulators that guarantee the safety of surrounding obstacles, including humans. To obtain an optimum path three factors including the traveled distance, the speed of path generation, and the safety of the obstacle are considered. The problem is divided into two interrelated parts. First, the focus is on the required number of via points for generating a path. In this regard, a model for penalizing the number of via points is proposed and the optimum number of via points is obtained geometrically. Given the number of via points, in the second part, the safe planning is formulated as an optimization problem. A danger index is utilized to constrain the problem. The danger index provides the system with the ability of evaluating the safety of the operation and this will result in an intelligent planning algorithm. The method suggests great potentials for use in human-safe systems. In order to evaluate the ef´Čüciency of the method, simulation results for a 2-DOF planar robot are presented and the advantages of this method over other conventional methods are discussed. Also, experimental results for a CRS-F3 manipulator are presented.

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