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Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions [PDF]

Journal of Intelligent and Robotic Systems: Theory and Applications, 2021
Obstacle avoidance for Dynamic Movement Primitives (DMPs) is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes.
Michele Ginesi, Daniele Meli, Andrea Roberti   +2 more
exaly   +2 more sources

USV Dynamic Accurate Obstacle Avoidance Based on Improved Velocity Obstacle Method

Electronics (Switzerland), 2022
Unmanned surface vehicle (USV) path planning is a crucial technology for achieving USV autonomous navigation. Under global path planning, dynamic local obstacle avoidance has become the primary focus for safe USV navigation.
Zhou Hao
exaly   +2 more sources

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Dynamic map for obstacle avoidance

Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems, 2004
Most of the existing obstacle avoidance algorithms work well in a relatively static environment, which consists of mostly stationary obstacles and maybe some slow-moving obstacles. In a dynamic environment, however, these obstacle avoidance algorithms may result in a robot colliding with a moving obstacle.
null Zhang Huiliang, null Huang Shell Ying   +1 more
openaire   +1 more source

Dynamic Obstacle Avoidance Planning for Manipulators of Home

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
With the maturity of robotics and serious aging situation, home service robots have been prevailing around the world, which requires the robotic arm of home service robots to be flexible for obstacle avoidance to work in complex and changing home environment.
Zhimin He, Fu Yuan, Diansheng Chen, Min Wang 0011   +3 more
openaire   +1 more source

Dynamic Obstacle Avoidance for Omnidirectional Mobile Manipulators

2022
The last decade witnessed an unprecedented spread of robotics. The production paradigm of Industry 4.0 and 5.0 yielded collaborative robots in production lines of all sizes. Also, the robots started leaving the industrial scenario to play a leading role in the field of personal assistance. These environments share a common challenge, i.e. the safety of
Neri F., Scoccia C., Carbonari L., Palmieri G., Callegari M., Tagliavini L., Colucci G., Quaglia G.   +7 more
openaire   +2 more sources

Dynamic obstacle avoidance for bacteria-powered microrobots

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
As microscale robots are becoming increasingly popular due to their potential for medical and industrial applications, various designs of microscale robotic system have been developed. However, there has not been much work on autonomous control algorithms for microscale robots in microfluidic environments.
Hoyeon Kim, U. Kei Cheang, A. Agung Julius, Min Jun Kim 0001   +3 more
openaire   +1 more source

A convergent dynamic window approach to obstacle avoidance

IEEE Transactions on Robotics, 2005
The dynamic window approach (DWA) is a well-known navigation scheme developed by Fox et al. and extended by Brock and Khatib. It is safe by construction, and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration.
Petter Ögren, Naomi Ehrich Leonard
openaire   +1 more source

Reactivity and Dynamic Obstacle Avoidance

2019
This chapter presents methods for aerial manipulators that allow to react against unexpected obstacles during navigation. The local replanning method presented in more detail considers jointly the state of the aerial platform and the manipulator configuration at joint level.
Alvaro Caballero, Manuel Bejar, Angel Rodriguez-Castaño, Anibal Ollero   +3 more
openaire   +1 more source

An Improved APF Method for Complex and Dynamic Obstacles’ Avoidance

Unmanned Systems, 2022
In this paper, an improved artificial potential field (APF) method combined with Bug2 is proposed for dynamic obstacle avoidance of mobile robots, which eliminates the trajectory oscillations and avoids failure when encountering a complex obstacle.
Xi Lin, Yuanjin Yu, Shi-Zhuang Chen, Yang-Yang Shi   +3 more
openaire   +1 more source

Dynamic obstacle avoidance path planning

2014 IEEE International Conference on System Science and Engineering (ICSSE), 2014
This paper proposes an image-based parallel lines distance measurement system (IBPLDMS), which is capable of executing an obstacle-detection and obstacle-avoidance path planning in a dynamic environment. The proposed IBPLDMS contains an image processing unit and an obstacle-avoidance unit.
null Shun-Feng Su, null Ming-Chang Chen, null Chung-Ying Li, Wei-Yen Wang, null Wen-June Wang   +4 more
openaire   +1 more source