Jinhua Ye, Linxin Hong, Haibin Wu, and Gengfeng Zheng,
Human–robot coexistence environments, artificial potential field (APF), danger index (DI)
Technology is nudging robot into automation and intelligence field, making dynamic collision avoidance indispensable in robotics. Aiming at safety control of mobile manipulator in human–robot coexistence environment, a novel artificial potential field based on danger index (DIAPF) approach is proposed. Firstly, hinged on the kinematic and dynamic model of mobile manipulators, a danger index system is established to take precautions against accident during the operation. We further improve the repulsion field and velocity repulsive field to promote dynamic obstacle avoidance in the human–robot coexistence environments. Feasibility and effectiveness of the proposed method are verified in simulation environment.
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