TY - GEN
T1 - Designing path of collision avoidance for mobile manipulator in worker safety monitoring system using reinforcement learning
AU - Lim, Jiwoong
AU - Lee, Jihyun
AU - Lee, Changjoo
AU - Kim, Gunwoo
AU - Cha, Younghoon
AU - Sim, Joonhyung
AU - Rhim, Sungsoo
N1 - Funding Information:
ACKNOWLEDGEMENT This work was supported by the Technology Innovation Program (20004315, Development of risk reduction and assessment technology to secure safety of mobile manipulator) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea)
Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/4
Y1 - 2021/3/4
N2 - Mobile manipulator is a robot for the next generation of processes. The mobile manipulator can increase process efficiency by being combined with the collaborative robot system. However, due to worker safety issues, simultaneous control of the mobile manipulator is still difficult. In this paper, we present the designing path of collision avoidance of a mobile manipulator for the safety of workers. By monitoring the position and velocity of a worker modeled as a cylinder, the mobile manipulator designs a path to avoid the worker using reinforcement learning. We learned the robot using simulation, and we checked the mobile and manipulator move to the destination by avoiding the worker.
AB - Mobile manipulator is a robot for the next generation of processes. The mobile manipulator can increase process efficiency by being combined with the collaborative robot system. However, due to worker safety issues, simultaneous control of the mobile manipulator is still difficult. In this paper, we present the designing path of collision avoidance of a mobile manipulator for the safety of workers. By monitoring the position and velocity of a worker modeled as a cylinder, the mobile manipulator designs a path to avoid the worker using reinforcement learning. We learned the robot using simulation, and we checked the mobile and manipulator move to the destination by avoiding the worker.
UR - http://www.scopus.com/inward/record.url?scp=85106516733&partnerID=8YFLogxK
U2 - 10.1109/ISR50024.2021.9419504
DO - 10.1109/ISR50024.2021.9419504
M3 - Conference contribution
AN - SCOPUS:85106516733
T3 - ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics
SP - 94
EP - 97
BT - ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021
Y2 - 4 March 2021 through 6 March 2021
ER -