Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario
Marco Minelli,Alessio Sozzi,Giacomo De Rossi,Federica Ferraguti,Francesco Setti,Riccardo Muradore,Marcello Bonfè,Cristian Secchi,Marco Minelli,Alessio Sozzi,Giacomo De Rossi,Federica Ferraguti,Francesco Setti,Riccardo Muradore,Marcello Bonfè,Cristian Secchi
In this paper we present a novel strategy for motion planning of autonomous robotic arms in Robotic Minimally Invasive Surgery (R-MIS). We consider a scenario where several laparoscopic tools must move and coordinate in a shared environment. The motion planner is based on a Model Predictive Controller (MPC) that predicts the future behavior of the robots and allows to move them avoiding collisions...
