This letter has been published in IEEE Robotics and Automation Letters.
Abstract
This letter presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prove impenetrability of the obstacles hull and asymptotic stability at a final goal location, using contraction theory. We validate the approach in a simulated co-worker industrial environment, with one KUKA arm engaged in a pick and place grocery task, avoiding in real-time humans moving in its vicinity and in simulation to drive wheel-chair robot in the presence of moving obstacles.
Details
- Title: Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction
- Authors: Huber, Lukas; Billard, Aude; Slotine, Jean-Jacques
- Date of publication: 17 January 2019
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