Real-Time Kinematic Control for Redundant Manipulators in a Time-Varying Environment: Multiple-Dynamic Obstacle Avoidance and Fast Tracking of a Moving Object

Zhang, Hui; Jin, Hongzhe; Liu, Zhangxing; Liu, Yubin; Zhu, Yanhe; Zhao, Jie

doi:10.1109/tii.2019.2917392

Cited by 58 publications

(48 citation statements)

References 27 publications

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“…This error can be treated as a measurement noise, v e , in the observation model. Finally, using Equations (20) and (21), the discrete-time Kalman filter can be implemented to estimate the state of the obstacle.…”

Section: Obstacle State Estimatormentioning

confidence: 99%

See 1 more Smart Citation

Collision Avoidance of Hexacopter UAV Based on LiDAR Data in Dynamic Environment

Park

Cho

2020

Remote Sensing

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A reactive three-dimensional maneuver strategy for a multirotor Unmanned Aerial Vehicle (UAV) is proposed based on the collision cone approach to avoid potential collision with a single moving obstacle detected by an onboard sensor. A Light Detection And Ranging (LiDAR) system is assumed to be mounted on a hexacopter to obtain the obstacle information from the collected point clouds. The collision cone approach is enhanced to appropriately deal with the moving obstacle with the help of a Kalman filter. The filter estimates the position, velocity, and acceleration of the obstacle by using the LiDAR data as the associated measurement. The obstacle state estimate is utilized to predict the future trajectories of the moving obstacle. The collision detection and obstacle avoidance maneuver decisions are made considering the predicted trajectory of the obstacle. Numerical simulations, including a Monte Carlo campaign, are conducted to verify the performance of the proposed collision avoidance algorithm.

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Section: Obstacle State Estimatormentioning

confidence: 99%

“…A moving trend function was constructed to predict dynamic obstacle position variances in the prediction horizon. Zhang et al [20] focused on the tracking of an object in the presence of multiple dynamic obstacles. A method based on conservation of energy was proposed to adjust the motion states of the robot manipulators.…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance of Hexacopter UAV Based on LiDAR Data in Dynamic Environment

Park

Cho

2020

Remote Sensing

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“…Several studies on obstacle avoidance issues have been proposed in [21][22][23][24][25][26][27][28], and these studies have been validated to some extent through simulations. In [21], the authors presented an energy-efficient routing mechanism based on the clustering method for mobile sinks in WSNs with obstacles.…”

Section: Related Workmentioning

confidence: 99%

“…Local path planning involves avoiding dynamic obstacles and tracking the global path by following the local target point, which is the intersection of the target points indicated by global and local path planning. In [28], the authors proposed an obstacle avoidance method based on the law of conservation of energy to adjust the motion states of robot manipulators in real time.…”

Section: Related Workmentioning

confidence: 99%

An Efficient Data Collection Path Planning Scheme in Wireless Sensor Networks with Mobile Sinks

Chang

Jeng

Sheu

et al. 2020

Preprint

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Wireless sensor networks with mobile sinks enable a mobile device to move into the sensing area for the purpose of collecting the sensing data. Mobile sinks increase the flexibility and convenience of data gathering in such systems. Taking the energy consumption of the mobile sink into account, the moving distance of the mobile sink must be reduced efficiently. Hence, it is important and necessary to develop an efficient path planning scheme for mobile sinks in large-scale wireless sensor network systems. According to several greedy-based algorithms, we adopt an angle bisector concept to create the moving path for the mobile sink. In this paper, a novel and efficient data collection path planning scheme is proposed to reduce the moving distances and to prolong the lifetimes of mobile sinks in wireless sensor networks. Considering the communication range limitations of sensor nodes and the obstacles within sensing areas, we design an inner center path planning algorithm to reduce the moving distance for the mobile sink. A back-routing avoidance method is included to address the moving path backpropagation problem. We account for the obstacles in sensing area. The reference point of obstacle avoidance is employed to address the obstacle problem. The proposed scheme makes an adaptive decision for creating the moving path of the mobile sink. A suitable moving path planning scheme can be achieved, and the moving distance of the mobile sink can be reduced. The proposed scheme is promising in large-scale wireless sensor networks. When the number of sensor nodes in the sensing area is increased by 50, the proposed scheme yields an average moving distance that is 1.1 km shorter than that of the heuristic tour-planning algorithm, where the sensing area is 5 km × 5 km. Simulation results demonstrate that the proposed data collection path planning scheme outperforms the previously developed greedy-based scheme in terms of the moving paths and moving distances of mobile sinks in wireless sensor networks.

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“…no longer work in a separate environment that is completely isolated, therefore, the obstacle avoidance control is becoming a matter of urgency [8], [9]. However, it remains challenging for manipulators with redundant DOFs, especially when there exist complex physical constraints [10]- [13].…”

Section: Introductionmentioning

confidence: 99%

Novel Method of Obstacle Avoidance Planning for Redundant Sliding Manipulators

Liu

Tong

et al. 2020

IEEE Access

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In this paper, a weighted additional deviation velocity on the basis of the gradient projection (GP-WADV) method is proposed to solve obstacle avoidance problems of the redundant manipulator under the condition of known end-effector trajectory. The GP-WADV method aims to find the point closest to the obstacle on the link of the manipulator and attach the additional deviation velocity with weighting factors to the point on the basis of the gradient projection method. Utilizing multi-solution characteristics of redundant robots, obstacle avoidance control parameters related to the distance between obstacles and links are proposed according to the gradient projection method for solving inverse kinematic solution. Moreover, a weighted method is adopted to adjust the weighting factors of the primary motion velocity and the additional motion velocity when the link approaches the obstacle, so as to obtain the joint angle solutions more quickly and accurately. The GP-WADV method can ensure that the manipulator can avoid obstacles smoothly without turbulence and solve the highly nonlinear relationship between the position of the manipulator and the joint coordinate, which has the advantages of small amount of calculation, more flexible and convenient real-time control. The advantages of the proposed GP-WADV method are proved by simulation and experiments. INDEX TERMS Additional deviation velocity method, gradient projection method, obstacle avoidance, redundant manipulator, weighted method.

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Real-Time Kinematic Control for Redundant Manipulators in a Time-Varying Environment: Multiple-Dynamic Obstacle Avoidance and Fast Tracking of a Moving Object

Cited by 58 publications

References 27 publications

Collision Avoidance of Hexacopter UAV Based on LiDAR Data in Dynamic Environment

Collision Avoidance of Hexacopter UAV Based on LiDAR Data in Dynamic Environment

An Efficient Data Collection Path Planning Scheme in Wireless Sensor Networks with Mobile Sinks

Novel Method of Obstacle Avoidance Planning for Redundant Sliding Manipulators

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