Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes

Vannoy, J.; Xiao, Jing

doi:10.1109/tro.2008.2003277

Cited by 135 publications

(66 citation statements)

References 35 publications

(36 reference statements)

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“…Besides the Velocity Obstacle approach [3], [16], many other methods have been proposed for collision-avoidance, navigation, and planning among moving obstacles [4], [7], [8], [14], [23], [21], [20], [24]. However, most of the existing work do not take into account that the obstacles' motion may be affected by the presence of the agent.…”

Section: Prior Workmentioning

confidence: 99%

Reciprocal Velocity Obstacles for real-time multi-agent navigation

Berg

Lin

Manocha

2008

2008 IEEE International Conference on Robotics and Automation

1,203

786

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Abstract-In this paper, we propose a new conceptthe "Reciprocal Velocity Obstacle"-for real-time multi-agent navigation. We consider the case in which each agent navigates independently without explicit communication with other agents. Our formulation is an extension of the Velocity Obstacle concept [3], which was introduced for navigation among (passively) moving obstacles. Our approach takes into account the reactive behavior of the other agents by implicitly assuming that the other agents make a similar collision-avoidance reasoning. We show that this method guarantees safe and oscillationfree motions for each of the agents. We apply our concept to navigation of hundreds of agents in densely populated environments containing both static and moving obstacles, and we show that real-time and scalable performance is achieved in such challenging scenarios.

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Section: Prior Workmentioning

confidence: 99%

Reciprocal Velocity Obstacles for real-time multi-agent navigation

Berg

Lin

Manocha

2008

2008 IEEE International Conference on Robotics and Automation

1,203

786

View full text Add to dashboard Cite

show abstract

“…the path becomes infeasible), a new feasible trajectory is re-planned. The work by (Vannoy and Xiao, 2008) proposes an adaptive motion planner that considers the simultaneous path and trajectory planning of high-DOF robots. This method provides multiple diverse trajectories at all times to allow instant adaptation of robot motion to newly sensed changes in the environment.…”

Section: Related Workmentioning

confidence: 99%

A dynamical system approach to realtime obstacle avoidance

2012

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This paper presents a novel approach to real-time obstacle avoidance based on dynamical systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spaces and using both autonomous and non-autonomous DS-based controllers. Obstacle avoidance proceeds by modulating the original dynamics of the controller. The modulation is parameterizable and allows to determine a safety margin and to increase the robot's reactiveness in the face of uncertainty in the localization of the obstacle. The method is validated in simulation on different types of DS including locally and globally asymptotically stable DS, autonomous and non-autonomous DS, limit cycles, and unstable DS. Further, we verify it in several robot experiments on the 7 degrees of freedom Barrett WAM arm.

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“…In the first category, Vannoy et al proposed selecting one of multiple pre-defined motions considering the environment and a criterion of the motion quality [11]. Park et al presented the use of non-linear optimization to adjust the pre-defined motions [12].…”

Section: Related Researchmentioning

confidence: 99%

Real-time whole-body motion generation using torso posture regression and center of mass

et al. 2018

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For household humanoid robots, reaching as much workspace as possible with their hands is an important issue because the locations of target objects may range from the floor to above the robot's head. At the same time, to adapt to the constantly-changing household environment, inverse kinematics for the whole body must be solved in real time. In this paper, to achieve real-time motion generation for a humanoid robot, we propose a method of separating the inverse kinematics calculation into simpler problems. Using regression to estimate the torso orientation, we independently solve inverse kinematics for the lower body and both arms. First, using the target pose of both hands as input, we calculate the orientation of the torso and determine the target position of the center of mass considering the reachability of both arms. At each control step, we calculate the joint angles of the lower body from the position of the center of mass, feet poses, and torso orientation. Then, we calculate the joint angles of both arms. In experiments, we apply the proposed method to a human-size humanoid robot for reaching low-height positions while hunkering down. The proposed inverse kinematics solver is ten times faster than the numerical solution using the Jacobian matrix. We also verify the applicability of the proposed method using a sequence of random target positions for the hands as input.

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Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes

Cited by 135 publications

References 35 publications

Reciprocal Velocity Obstacles for real-time multi-agent navigation

Reciprocal Velocity Obstacles for real-time multi-agent navigation

A dynamical system approach to realtime obstacle avoidance

Real-time whole-body motion generation using torso posture regression and center of mass

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