Collision Detection and Motion Planning

Fig. 1: The task is collision-free path planning with one moving and one non-moving object
Fig. 1: The task is collision-free path planning with one moving and one non-moving object
Fig. 2: Example of a planning task with several target points for grinding operations
Fig. 2: Example of a planning task with several target points for grinding operations

Project definition

Possible collisions between a moving object (such as a robot) and objects in the environment must be detected and avoided (Fig. 1). To achieve this, geometric models (CAD models) are needed for all involved objects and the beginning and final position of the moving object. Along with the collision detection, evasive movements for the moving object can be planned for one or more target positions (Fig. 2). It is also possible to take moving obstacles into consideration.

Areas of expertise

  • Fast calculation of the object's minimum proximity to obstacles
  • Fast calculation of collision-free evasive movements
  • Automatic adaptation of the process to the step size desired for the movement
  • Automatic selection and consideration of multiple target points (e.g. with ambiguous inverse kinematics)
  • Calculation of collision-free paths between multiple target points

Applications

  • Planning for manual or automatic assembly or disassembly of components
  • Off-line and on-line programming of industrial robots
  • Safe, collision-free guidance of (medical or measurement) instruments
  • Robot-assisted surgery

Projects

  • Project of the German Research Foundation (DFG) "Scalable algorithms for parallel motion planning in dynamic environments" in the special research cluster "Efficient algorithms for discrete problems and their applications", 1996-2000
  • DFG project "Safety strategies for human/robot cooperation" (SIMERO), 2005 - 2007

Wanted

Student Jobs / Open Positions