Automatic generation of collision-free trajectories

This service has two strategies: the static one referring to programming the trajectory after perceiving the environment and, based on the information captured on position of the displacement, being able to identify the most optimal trajectory. If obstacle is detected during the trajectory execution time, the robot stops and waits for instructions. A more advanced and complex version is the automatic generation of trajectories avoiding obstacles, starting from the initial and final point of the path, making calculations in real time and the most optimal movement, If obstacles are detected recalculations are made adapting to the new situation.