Obstacle Avoidance for Spatial Hyper‐Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

Fahimi, Farbod; Ashrafiuon, Hashem; Nataraj, C.

doi:10.1002/rob.10067

Cited by 31 publications

(36 citation statements)

References 20 publications

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“…Consider a velocity field V(r), and a scaled velocity field V s (r) = V(r/a), where a > 0. As shown in the previous section, the resulting pathlines are integral curves of Equation (12). Let r(t) be a pathline corresponding to the velocity field V(r), with initial condition r(a), and consider the curve r s (t) = ar(t).…”

Section: Scaling Of the Velocity Fieldmentioning

confidence: 98%

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Autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles

Ruiter

Owlia

2015

Aeronaut.j.

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This paper investigates a method for autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles (UAVs), utilising potential fluid flow theory. The obstacle avoidance algorithm needs only compute the instantaneous local potential velocity vector, which is passed to the flight control laws as a direction command. The approach is reactive, and can readily accommodate real-time changes in obstacle information. UAV manoeuvring constraints on turning or pull-up radii, are accounted for by approximating obstacles by bounding rectangles, with wedges added to their front and back to shape the resulting fluid pathlines. It is shown that the resulting potential flow velocity field is completely determined by the obstacle field geometry, allowing one to determine a non-dimensional relationship between obstacle added wedge-length and the corresponding minimum pathline radius of curvature, which can then be readily scaled in on-board implementation. The efficacy of the proposed approach has been demonstrated numerically with an Aerosonde UAV model.

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Section: Scaling Of the Velocity Fieldmentioning

confidence: 98%

“…. (12) with initial condition r(a) ∈ D given. Since dr/dt ≠ 0 for all t ∈ [a,b] (because V(r) ≠ 0 on D), the pathline may equivalently be parameterised by its arc-length, s, measured along the pathline from the initial condition r(a).…”

Section: Scaling Of the Velocity Magnitudementioning

confidence: 99%

Autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles

Ruiter

Owlia

2015

Aeronaut.j.

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“…There is a great need to focus efforts on model-based motion and trajectory control models for the safe, precise, and collision-free navigation of snake-like robots. Harmonic potential functions were used to compute collision-free paths in redundant robots [48,49]; however, the approach may likely cause manipulators to be trapped in local minima. Parsa et al [34] extended the use of an interpolating polynomial to generate a smooth path between initial and final points such that robot-obstacle collisions were avoided.…”

Section: Literature Reviewmentioning

confidence: 99%

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

et al. 2020

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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot's movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot's links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.

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“…The trajectory planning of redundant manipulators which achieved tasks within the enclosed workspace was studied in [16]. The authors of [17] presented the obstacle avoidance problem of spatial hyper-redundant manipulators in known environments. They employed harmonic potential functions to achieve obstacle avoidance and generated the potential of any arbitrary shaped obstacle in three-dimensional space with a modified method.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance Path Planning of Planar Redundant Manipulators Using Workspace Density

Dong

2015

International Journal of Advanced Robotic Systems

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This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuation, it is important to study not only the shape of the workspace, but also the density of reachable poses in the workspace. In this paper, we focus on using the workspace density to calculate collision-free paths in complex environments with multiple obstacles in the workspace of the manipulator. This paper presents the algorithm and demonstrates it effectiveness using simulation results.

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Obstacle Avoidance for Spatial Hyper‐Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

Cited by 31 publications

References 20 publications

Autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles

Autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Obstacle Avoidance Path Planning of Planar Redundant Manipulators Using Workspace Density

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