Digital Twin-Enabled Collision Mitigation for Path Constrained Applications

The recent surge in automation applications has led to the increased deployment of mobile robots across various industries. In many of these systems, robots operate under stringent path requirements, which can greatly limit their flexibility when facing obstacles or potential collisions. This paper presents a Digital Twin (DT) strategy for preventing robot collisions by incorporating redundant safety measures. By employing the velocity obstacle paradigm, the DT can analyse and predict the behaviour of robots, enabling proactive collision avoidance. It focuses on the challenges posed by navigating predefined paths by suggesting dynamic replanning at the mission planning level within the DT system. Experimental results validate the effectiveness of the system, highlighting its potential in enhancing robotic safety and performance.