Path Planning of Scorbot-ER 4U Robot

In the past mobile robot research was often focused to various kinds of point-to-point tasks. An original path tracking controller for a vision-based automated guided vehicle. The SCARA word stands for Selective Compliant Assembly Robot Arm. Reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory the controller is used. Service tasks, such as floor cleaning, require specific approaches for path planning and vehicle guidance in real inside areas like homes, offices and industries. The paper will discusses automatic planning of a feasible cleaning path considering a 2D-MAP as well as kinematic and geometric robot model. Path construction makes use of two typical motion patterns. Each pattern is defined by a sequence of sub goals indicating robot position and orientation. If obstacles permanently block the preplanned path, an automatic map update and path replanning is performed.