LAUSR

The paper presents a new version of the existing elastic band algorithm used for path finding, with application in the field of collaborative robotics and point-to-point movements. The algorithm places control points on the path and dynamically modifies the position of these control points in reaction to any obstacles located or moving in the workspace. The control points are updated in the robot space (TCP space), obstacles are represented by a set of grid-aligned voxels acquired by a camera system. Repulsive forces are created between the obstacles and the robot body (represented by a set of points covering evenly the surface of individual links) and transferred to the locations of the elastic band control points. The method is computationally effective and provides a smooth and length-optimal path while considering collisions in a more accurate manner than traditional usage of simple bounding volumes. The dynamic iterative updating of elastic band provides a clear principle for modification of the trajectory even close to the actual location of the robot as it is following the trajectory. The algorithm is verified on a set of practical experiments made on a physical UR3 robot with simulated obstacles, and the results are also compared to other commonly used methods for dynamic obstacle avoidance.