Reactive collision avoidance for navigation with dynamic constraints

Mínguez, Javier; Montano, Luis; Khatib, Oussama

doi:10.1109/irds.2002.1041455

Cited by 20 publications

(11 citation statements)

References 17 publications

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“…Collision avoidance can be carried out in real-time with predictive algorithms [36,37] and with reactive algorithms [38,39]. The penalty function that was chosen to prevent collisions is similar to that provided in [40] …”

Section: Collision Avoidance Penalty Functionmentioning

confidence: 99%

“…Kulic and Croft [46] discuss a time-scaling method whereby a manipulator can be brought to a stop while considering velocity and acceleration constraints. Brock and Khatib [38] investigated a method of suspending the task when the system is unable to execute the task in the presence of constraints and Minguez et al [39] proposed an emergencystop procedure that considers the dynamics of the system. The third step determines the amount of torque, represented by the step size, k, made available for the null-space motion.…”

Section: Null-space Step-size Algorithmmentioning

confidence: 99%

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On-line trajectory resolution for two-armed systems with conflicting performance criteria

Owen

Croft

Benhabib

2009

Mechanism and Machine Theory

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Section: Collision Avoidance Penalty Functionmentioning

confidence: 99%

Section: Null-space Step-size Algorithmmentioning

confidence: 99%

On-line trajectory resolution for two-armed systems with conflicting performance criteria

Owen

Croft

Benhabib

2009

Mechanism and Machine Theory

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“…Using this work, the ND method can be used on two-wheeled, tricycle, and car-like robots. We also constructed a space to represent the vehicle dynamics [29]. From these results, the ND velocity limits can be significantly increased and safety is guaranteed.…”

Section: B Nd Navigation Limitationsmentioning

confidence: 99%

Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios

Mínguez

Montano

2004

IEEE Trans. Robot. Automat.

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394

238

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Abstract-This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the navigation. Many techniques could be used to implement this design (since it is described at symbolic level), leading to new reactive methods that must be able to navigate in arduous environments (as the difficulty of the navigation is simplified). We also propose a geometry-based implementation of our design called the nearness diagram navigation. The advantage of this reactive method is to successfully move robots in troublesome scenarios, where other methods present a high degree of difficulty in navigating. We show experimental results on a real vehicle to validate this research, and a discussion about the advantages and limitations of this new approach.

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“…We compute v by estimating the error that results from assuming that the steady state is reached instantly (the full procedure is described in [9], however we remark that v depends on a v ).…”

Section: Dynamics In Motion Commandsmentioning

confidence: 99%

“…The original formulation of the Ego-Dynamic Transformation (ED-transf) [9] deals with robots that move in any direction (holonomic robots). We reformulate in this Section the ED-transf for vehicles that move on arcs of a circle.…”

Section: A the Ego-dynamic Transformationmentioning

confidence: 99%

The ego-kinodynamic space: collision avoidance for any shape mobile robots with kinematic and dynamic constraints

Mínguez

Montano

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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Abstract-This paper presents a framework to use collision avoidance methods in the majority of existing mobile robots (that have any shape, and kinematic and dynamic constraints). The solution proposed is a vehicle abstraction layer based on transforming the space where these methods work, onto another one in which the constraints are implicitly represented. This space incorporates the vehicle kinematics and dynamics in such a way that when the reactive navigation methods are used, the motions computed comply with the motion constraints. We validate the utility of this framework by applying a classic reactive method in a real vehicle with motion constraints (whereas the original method does not address the kinematics and dynamics).

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Reactive collision avoidance for navigation with dynamic constraints

Abstract: We

Cited by 20 publications

References 17 publications

On-line trajectory resolution for two-armed systems with conflicting performance criteria

On-line trajectory resolution for two-armed systems with conflicting performance criteria

Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios

The ego-kinodynamic space: collision avoidance for any shape mobile robots with kinematic and dynamic constraints

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