A Dynamical System Approach to Realtime Obstacle Avoidance

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.


Published in:
Autonomous Robots, 32, 4, 433-454
Year:
2012
Publisher:
Springer Verlag
ISSN:
0929-5593
Keywords:
Note:
The final publication is available at www.springerlink.com
Laboratories:




 Record created 2012-02-06, last modified 2018-01-28

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