@inproceedings{68e2c660264841ca9a58d6fb7bae8181,
title = "Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators",
abstract = "In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches.",
keywords = "Autonomous robotic systems, Guidance navigation and control, Motion Planning, Real-Time Collision Avoidance, Robots manipulators",
author = "Marvin Becker and Philipp Caspers and Tom Hattendorf and Torsten Lilge and Sami Haddadin and M{\"u}ller, {Matthias A.}",
note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",
year = "2023",
month = jul,
day = "1",
doi = "10.1016/j.ifacol.2023.10.1698",
language = "English",
series = "IFAC-PapersOnLine",
publisher = "Elsevier B.V.",
number = "2",
pages = "1017--1022",
editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",
booktitle = "IFAC-PapersOnLine",
edition = "2",
}