Distance based dynamical system modulation for reactive avoidance of moving obstacles

Matteo Saveriano, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

38 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5618-5623
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

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

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

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