TY - GEN
T1 - Distance based dynamical system modulation for reactive avoidance of moving obstacles
AU - Saveriano, Matteo
AU - Lee, Dongheui
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84926385093&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907685
DO - 10.1109/ICRA.2014.6907685
M3 - Conference contribution
AN - SCOPUS:84926385093
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5618
EP - 5623
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -