Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index

Jia, Qingxuan; Qian-ru, Zhang; Gao, Xin; Chen, Gang; Song, Jingzhou

doi:10.3724/sp.j.1218.2013.00017

Cited by 8 publications

(8 citation statements)

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“…Experiment three: Consider multiple dynamic obstacles while all speed direction of them were in the collision risk zone. Assume that the radius of the robot A R is 0.5 and the initial position is [12,4] , the maximum speed is 0.3 , the target point is [1,7] , the radius of the dynamic obstacle B O is 0.5, its initial position is [2.6,1.0] , the maximum speed is 0.4 and the target point is [12,12] , while the radius of the dynamic obstacle C O is 0.4, the initial position is [5.5,11.5] , the maximum speed is 0.4 and the target point is [12,1] Figure 13. …”

Section: Simulationsmentioning

confidence: 99%

“…A pre-selected minimum distance index [1] was presented considering the real-time performance of dynamic obstacle avoidance for robots, avoidance gain and escaping velocity related to minimum distance are built and then mapping matrix in zero space of redundant robots is utilized to accomplish obstacle avoidance path. With the relative coordinates based on information collected from laser radars, the direction and speed of the robot were adjusted in real time to avoid obstructions by employing the speed and angle relative to the obstacle information [2].…”

Section: Introductionmentioning

confidence: 99%

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A new second-order fuzzy control scheme for dynamic obstacle avoidance

Kong

Chen

Yang

et al. 2015

The 27th Chinese Control and Decision Conference (2015 CCDC)

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For the dynamic obstacle avoidance problem in a unknown environment, a second-order fuzzy control strategy is proposed based on fuzzy method. Through the observation and analysis of the perception information of the delta speed and the delta deviation angle of a detected dynamic obstacle, the robot then make decision to efficiently avoid dynamical obstacles. Moreover, a two hierarchical control scheme is designed, where the upper level is to determine the deflection angle according to delta of speed and direction of dynamic obstacles, and the lower one is to derive the speed of a robot by employing the output of the upper level and the distance between the robot and dynamic obstacle. The simulations are demonstrated that the proposed scheme is effective and efficient.

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Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A new second-order fuzzy control scheme for dynamic obstacle avoidance

Kong

Chen

Yang

et al. 2015

The 27th Chinese Control and Decision Conference (2015 CCDC)

View full text Add to dashboard Cite

show abstract

“…According to (8), (9), and (14), the angular velocities of the shoulder and elbow joints, � � � �� , can be uniquely determined. Moreover, � � � �� can be transformed into joint trajectories for various anthropomorphic arms with different structures, which endows the method with desirable generality.…”

Section: ‖��‖ � ‖��‖ � �� ‖��‖mentioning

confidence: 99%

A Global Obstacle-Avoidance Map for Anthropomorphic Arms

Fang

Ding

2014

International Journal of Advanced Robotic Systems

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More and more humanoid robots are used in human society, and they face a wide variety of complicated manipulation tasks, which are mainly to be achieved by their anthropomorphic arms. Obstacle avoidance for the anthropomorphic arm must be a fundamental consideration to guarantee the successful implementation of these tasks. Different from traditional methods searching for feasible or optimal collision-free solutions for the anthropomorphic arm, a global obstacleavoidance map for the whole arm is proposed to indicate the complete set of feasible solutions. In this map, the motion of the arm can be appropriately planned to intuitively control the configuration of the arm in motion. First, the cubic spline function is adopted to interpolate some well-chosen path points to generate a smooth collision-free path for the wrist of the anthropomorphic arm. Second, based on the path function of the wrist, the time and the self-rotation angle of the arm about the "shoulder-wrist" axis are used to parameterize all possible configurations of the arm so that a global twodimensional map considering the obstacle avoidance can be established. Subsequently, a collision-free self-rotation angle profile of the arm can be well planned. Finally, the joint trajectories of a specific anthropomorphic arm, which correspond to the planned path of the wrist and self-rotation angle profile of the arm, can be solved on the basis of the general kinematic analysis of the anthropomorphic arm, and the specific structure. Several simulations are conducted to verify that the proposed collision-free motion planning method for anthropomorphic arms has some advantages and can be regarded as a convenient and intuitive tool to control the configuration of the anthropomorphic arm in motion, without collision with obstacles in its surroundings.

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“…This provides means for solving sophisticated motion tasks such as avoiding obstacles, avoiding singularities, optimizing manipulability, and minimizing joint torques. It is well recognized that collision avoidance for redundant robots is a significant issue in current robotics research, which has gained extensive attention recently [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm

Shen

Chen

et al. 2015

Journal of Control Science and Engineering

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To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.

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Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index

Cited by 8 publications

References 0 publications

A new second-order fuzzy control scheme for dynamic obstacle avoidance

A new second-order fuzzy control scheme for dynamic obstacle avoidance

A Global Obstacle-Avoidance Map for Anthropomorphic Arms

Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm

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