Work

Distance based Dynamical System Modulation for Reactive Collision Avoidance

Year: 2013

Type: article

Abstract: An algorithm which allows the robot to avoid obstacles and to reach the assigned goal is proposed.For this purpose, a dynamical system (DS) modulation matrix is calculated using the distance from the obstacles, without the need of analytical representation of the obstacles.This matrix modulates a generic first order DS, used to generate the desired path.In this way we guarantee the obstacles avoidance and the reaching of the goal.The effectiveness of the proposed approach is validated with an experiment on a 7 DOF KUKA light weight arm.

Source: mediaTUM – the media and publications repository of the Technical University Munich (Technical University Munich)

Authors: Matteo Saveriano, Dongheui Lee

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2756045849

FWCI:

Cites: 4

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Related to: 10