Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction
© 2016 IEEE. This letter 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 obsta...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/136208 |
| _version_ | 1826203797696806912 |
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| author | Huber, Lukas Billard, Aude Slotine, Jean-Jacques |
| author2 | Massachusetts Institute of Technology. Nonlinear Systems Laboratory |
| author_facet | Massachusetts Institute of Technology. Nonlinear Systems Laboratory Huber, Lukas Billard, Aude Slotine, Jean-Jacques |
| author_sort | Huber, Lukas |
| collection | MIT |
| description | © 2016 IEEE. This letter 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 obstacles 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. |
| first_indexed | 2024-09-23T12:43:12Z |
| format | Article |
| id | mit-1721.1/136208 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:43:12Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1362082023-03-24T18:07:26Z Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction Huber, Lukas Billard, Aude Slotine, Jean-Jacques Massachusetts Institute of Technology. Nonlinear Systems Laboratory © 2016 IEEE. This letter 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 obstacles 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. 2021-10-27T20:34:16Z 2021-10-27T20:34:16Z 2019 2020-08-07T15:38:27Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/136208 en 10.1109/LRA.2019.2893676 IEEE Robotics and Automation Letters Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Other repository |
| spellingShingle | Huber, Lukas Billard, Aude Slotine, Jean-Jacques Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title | Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title_full | Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title_fullStr | Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title_full_unstemmed | Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title_short | Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction |
| title_sort | avoidance of convex and concave obstacles with convergence ensured through contraction |
| url | https://hdl.handle.net/1721.1/136208 |
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