Paper Info
Title
A dynamical system approach to realtime obstacle avoidance
Abstract
This paper presents a novel approach to real-time obstacle avoidance based on Dynamical Systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spaces and using both autonomous and non-autonomous DS-based controllers. Obstacle avoidance proceeds by modulating the original dynamics of the controller. The modulation is parameterizable and allows to determine a safety margin and to increase the robot's reactiveness in the face of uncertainty in the localization of the obstacle. The method is validated in simulation on different types of DS including locally and globally asymptotically stable DS, autonomous and non-autonomous DS, limit cycles, and unstable DS. Further, we verify it in several robot experiments on the 7 degrees of freedom Barrett WAM arm.
Year
DOI
Venue
2012
10.1007/s10514-012-9287-y
Auton. Robots
Keywords
DocType
Volume
Realtime obstacle avoidance,Nonlinear dynamical system,Harmonic potential function,Robot manipulator
Journal
32
Issue
ISSN
Citations 
4
0929-5593
60
PageRank 
References 
Authors
2.29
23
2
Name
Order
Citations
PageRank
Seyed Mohammad Khansari-Zadeh116011.57
Aude Billard23316254.98