Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prove impenetrability of the obstacle’s hull and asymptotic stability at a final goal location, using contraction theory. We validate the approach in a simulated co-worker industrial environment, with one KUKA arm engaged in a pick and place grocery task, avoiding in real-time humans moving in its vicinity and in simulation to drive wheel-chair robot in the presence of moving obstacles.


Published in:
IEEE Robotics and Automation Letters (RA-L)
Year:
Jul 17 2019
Keywords:
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url: http://lasa.epfl.ch/publications/uploadedFiles/avoidance2019huber_billard_slotine-min.pdf
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 Record created 2019-01-14, last modified 2019-06-19


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