Distance based dynamical system modulation for reactive avoidance of moving obstacles

Matteo Saveriano, Dongheui Lee

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

38 Zitate (Scopus)

Abstract

An algorithm which allows The robot To avoid moving 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 and Their velocity, without The need of an analytical representation of The obstacles. This matrix modulates a generic first order DS, used To generate The desired path, saving The equilibrium points of The modulated system. The effectiveness of The proposed approach is validated with numerical simulations and experiments on a 7 DOF KUKA light weight arm.

OriginalspracheEnglisch
TitelProceedings - IEEE International Conference on Robotics and Automation
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten5618-5623
Seitenumfang6
ISBN (elektronisch)9781479936854, 9781479936854
DOIs
PublikationsstatusVeröffentlicht - 22 Sept. 2014
Extern publiziertJa
Veranstaltung2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Dauer: 31 Mai 20147 Juni 2014

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Konferenz

Konferenz2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Land/GebietChina
OrtHong Kong
Zeitraum31/05/147/06/14

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