Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials

Gonon, David; Jud, Dominic; Fankhauser, Péter; Hutter, Marco

doi:10.1007/978-3-319-67361-5_2

Cited by 4 publications

(3 citation statements)

References 13 publications

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“…Shen designed a hazard zone around construction equipment in which site personnel should not be during operations [36]. Gonon applied the potential field method in order to avoid collisions when controlling the excavator [37].…”

Section: Literature Reviewmentioning

confidence: 99%

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

et al. 2020

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Many solutions about the teleoperation of unmanned robotic excavators have been studied continuously. However, if excavators that are remotely controlled were employed, the probability of an accident would be higher. For this reason, there have been many ways proposed to attempt to reduce accidents in these dangerous situations. In this paper, a novel methodology will be introduced with a focus on the multiple excavators themselves. The proposed method details how one excavator can be generated or expressed as an obstacle in the Configuration-Space (C-space) with respect to another excavator’s side for collision avoidance each other. This method is based on kinematics information which is measurable and given. Therefore, this method can be used or applied independently by using widely used pose sensors and wireless communication devices. The phase of mathematical derivation about obstacle sets is described in detail. The results are shown in accompanying figures and tables for demonstrating that the proposed method detected the proximity and found the collision-free zone accurately. The proposed system can be powerful when applied to a teleoperation system, where it would be particularly useful and helpful to the operator.

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Section: Literature Reviewmentioning

confidence: 99%

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

et al. 2020

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“…Gonon et al. [ 22 ] proposed a modified artificial potential field that includes a viscous damping term to dissipate energy and enforces a limit on the repulsive forces, thus can prevent the repulsive force from oscillating with high frequency. Although repulsive force-based methods are conservative and effective solution for avoiding collisions, the methods repel two proximate links and thus the modified motion may be farther away from the reference motion more than necessary.…”

Section: Introductionmentioning

confidence: 99%

Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator

Jang

Kim

Park

2021

Sensors

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This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance buffer border (DBB), which is a 3D curved surface enclosing a buffer region of the mobile robot. The region has the thickness equal to buffer distance. When the distance between the manipulator and mobile robot is less than the buffer distance, which means the manipulator lies inside the buffer region of the mobile robot, the proposed strategy is to move the mobile robot away from the manipulator in order for the manipulator to be placed outside the border of the region, the DBB. The strategy is achieved by exerting force on the mobile robot. Therefore, the manipulator can avoid self-collision with the mobile robot without modifying the predefined motion of the manipulator in a world Cartesian coordinate frame. In particular, the direction of the force is determined by considering the non-holonomic constraint of the differentially driven mobile robot. Additionally, the reachability of the manipulator is considered to arrive at a configuration in which the manipulator can be more maneuverable. In this respect, the proposed algorithm has a distinct advantage over existing avoidance methods that do not consider the non-holonomic constraint of the mobile robot and push links away from each other without considering the workspace. To realize the desired force and resulting torque, an avoidance task is constructed by converting them into the accelerations of the mobile robot. The avoidance task is smoothly inserted with a top priority into the controller based on hierarchical quadratic programming. The proposed algorithm was implemented on a differentially driven mobile robot with a 7-DOFs robotic arm and its performance was demonstrated in various experimental scenarios.

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“…A variety of algorithms exist addressing the problem which could be broadly classified into geometric methods, potential field based methods, optimization methods and others. Collision cone [14] and velocity obstacle [15] are algorithms belonging to the first while [16][17][18] gives avoidance using the second category of avoidance methods. Optimization based avoidance method is adopted in [19,20].…”

Section: Introductionmentioning

confidence: 99%

CONCORD: A UAV Conflict Resolution System using Correlated Equilibrium based Decision Making

Tony

Ghose

Chakravarthy

2020

AIAA Scitech 2020 Forum

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Unmanned Aerial Vehicles (UAVs) are in demand for a wide range of applications. A traffic management system similar to the Air Traffic Control (ATC) is necessary to handle these vehicles efficiently. The complexity associated with such a system will increase with the size of airspace and the number of vehicles using it at any given instant of time. The need for collision avoidance among UAVs is quite significant in this context. This paper presents the CONCORD, which is a UAV conflict resolution system that uses the notion of correlated equilibrium. Correlated equilibrium is a popular solution concept in game theory, which improves upon Nash equilibrium solution and gives better expected payoff to every player. In this work, an intelligent semi-autonomous conflict resolution subsystem is proposed which could be a part of UAV traffic management system that can handle multiple UAV conflicts effectively.

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Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials

Cited by 4 publications

References 13 publications

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator

CONCORD: A UAV Conflict Resolution System using Correlated Equilibrium based Decision Making

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