Superquadric artificial potentials for obstacle avoidance and approach

Khosla, Pradeep K.; Volpe, R.

doi:10.1109/robot.1988.12323

Cited by 172 publications

(91 citation statements)

References 8 publications

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“…About 20 years ago, flexible planners, such as Potential Field methods, were introduced. [4][5][6] A Potential Field method directs the motion of the character (robot) through an artificial potential field which is defined by a function over the free configuration space C free (that is, the space of all the possible placements for the character in the environment). The character is pulled toward the goal position as it generates a strong attractive force.…”

Section: Introductionmentioning

confidence: 99%

The corridor map method: a general framework for real‐time high‐quality path planning

Gerærts

Overmars²

2007

Computer Animation & Virtual

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In many virtual environment applications, paths have to be planned for characters to traverse from a start to a goal position in the virtual world while avoiding obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and flexible (to avoid local hazards such as small and dynamic obstacles). In addition, paths need to be smooth and short to ensure natural looking motions.Current path planning techniques do not obey these criteria simultaneously. For example, A* approaches generate unnatural looking paths, potential field-based methods are too slow, and sampling-based path planning techniques are inflexible. We propose a new technique, the Corridor Map Method (CMM), which satisfies all the criteria. In an off-line construction phase, the CMM creates a system of collision-free corridors for the static obstacles in an environment. In the query phase, paths can be planned inside the corridors for different types of characters while avoiding dynamic obstacles. Experiments show that high-quality paths for single characters or groups of characters can be obtained in real-time.

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Section: Introductionmentioning

confidence: 99%

The corridor map method: a general framework for real‐time high‐quality path planning

Gerærts

Overmars²

2007

Computer Animation & Virtual

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“…It is well known that the strength of potential field methods is that, with some limited engineering, it is possible to construct quite efficient and relatively reliable motion planners (Latombe (1991)). But the potential field methods are usually incomplete and may fail to find a free path, even if one exists, because they can get trapped in a local minimum (Khosla & Volpe (1988); Rimon & Doditschek (1992); Sun et al (1997)). Another problem with the existing potential field methods is that they are not so suitable to generate optimal path: adding optimization elements in the algorithm, usually, makes it quite costly from computational point of view (Zelinsky (1992)).…”

Section: ) Skeleton;mentioning

confidence: 99%

Neural Networks Based Path Planning and Navigation of Mobile Robots

Kroumov¹,

Yu²

2011

Recent Advances in Mobile Robotics

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“…Potential fields [17,18] and sampling-based algorithms [6,11] can be used to solve the high-dimensional motion planning problems. Potential field techniques treat the robot's configuration as a point in a potential field that combines attraction to the goal with repulsion from obstacles.…”

Section: Related Workmentioning

confidence: 99%

Online motion planning for HOAP-2 humanoid robot navigation

Elmogy

Habel

Zhang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Autonomous robot navigation is becoming an increasingly important research topic for mobile robots. In the last few years, significant progress has been made towards stable robotic bipedal walking. This is creating an increased research interest in developing autonomous navigation strategies which are tailored specifically to humanoid robots. Efficient approaches to perception and motion planning, which are suited to the unique characteristics of biped humanoid robots and their typical operating environments, are receiving special interest. In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot. The sampling based algorithm is used to provide the robot with minimal free configuration space which is sampled to extract the robot path. For collision detection, a cylinder model is used to approximate the trajectory for the body center of the humanoid robot during navigation. It calculates the actual distances required to execute different actions of the robot and compares them with the distances to the nearest obstacles. The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space. The proposed hybrid algorithm reduces searching time and produces a smoother path for the humanoid robot at a low cost.

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Superquadric artificial potentials for obstacle avoidance and approach

Cited by 172 publications

References 8 publications

The corridor map method: a general framework for real‐time high‐quality path planning

The corridor map method: a general framework for real‐time high‐quality path planning

Neural Networks Based Path Planning and Navigation of Mobile Robots

Online motion planning for HOAP-2 humanoid robot navigation

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