An Algorithm Restricting Motion into Curve-Like Forbidden Regions

In robotic systems, there are often parts of the workspace where motion may cause damage to surrounding environment or the system itself. For such systems, forbidden regions are defined and motion into these are restricted by special algorithms. It is essential to keep these regions at optimal size and shape in order to ensure maximum operational capability whilst avoiding any risks of damage. In this paper, a hierarchical algorithm tackling these problems for two-axis gimballed systems and motion forbidden regions defined by second order curves is proposed. The method also supports safe operation in case of multiple dynamic forbidden regions in real-time. The proposed algorithm is verified through simulations and experiments conducted on an actual surveillance system.