{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T02:22:35Z","timestamp":1762050155167,"version":"build-2065373602"},"reference-count":52,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,5,6]],"date-time":"2022-05-06T00:00:00Z","timestamp":1651795200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U20A20197"],"award-info":[{"award-number":["U20A20197"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Entropy"],"abstract":"<jats:p>With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. To avoid the collisions between the links and obstacles and the collisions of the links themselves, a constraint-relaxed links collision avoidance method is developed by solving a quadratic programming problem. Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time with a higher success rate. Detailed simulation comparison experiments, as well as real-world experiments, are reported to verify the effectiveness of our method.<\/jats:p>","DOI":"10.3390\/e24050653","type":"journal-article","created":{"date-parts":[[2022,5,6]],"date-time":"2022-05-06T14:49:38Z","timestamp":1651848578000},"page":"653","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4780-559X","authenticated-orcid":false,"given":"Hongyan","family":"Liu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daokui","family":"Qu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110169, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fang","family":"Xu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110169, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenjun","family":"Du","sequence":"additional","affiliation":[{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110169, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai","family":"Jia","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110169, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingmin","family":"Liu","sequence":"additional","affiliation":[{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110169, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"628","DOI":"10.1016\/j.cirp.2009.09.009","article-title":"Cooperation of human and machines in assembly lines","volume":"58","author":"Lien","year":"2009","journal-title":"CIRP Ann."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"957","DOI":"10.1007\/s10514-017-9677-2","article-title":"Progress and prospects of the human\u2013robot collaboration","volume":"42","author":"Ajoudani","year":"2018","journal-title":"Auton. 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