Real Time Adaptive Obstacle Avoidance in Dynamic Environments with Different D-S

Authors: Mohammad Javad Mollakazemi, Farhad Asadi

Abstract:

In this paper a real-time obstacle avoidance approach for both autonomous and non-autonomous dynamical systems (DS) is presented. In this approach the original dynamics of the controller which allow us to determine safety margin can be modulated. Different common types of DS increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle especially when robot moves very fast in changeable complex environments. The method is validated by simulation and influence of different autonomous and non-autonomous DS such as important characteristics of limit cycles and unstable DS. Furthermore, the position of different obstacles in complex environment is explained. Finally, the verification of avoidance trajectories is described through different parameters such as safety factor.

Keywords: Limit cycles, Nonlinear dynamical system, Real time obstacle avoidance.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1099152

References:

[1] V. Lumelsky and T. Skewis. Incorporating range sensing in the robot navigation function. IEEE Trans. on Systems, Man, and Cybernetics, 20:1058 – 1069, 1990.
[2] R. Simmons. The curvature-velocity method for local obstacle avoidance. In Proc. of the IEEE Int. Conf. on Robotics and Automation, volume 4, pages 3375 – 3382, 1996.
[3] J.J. Kuffner and S.M. LaValle. RRT-connect: An efficient approach to single-query path planning. In Proc. of IEEE Int. Conf. on Robotics and Automation, volume 2, pages 995 – 1001, 2000.
[4] R. Diankov and J. Kuffner. Randomized statistical path planning. In Proc. of IEEE/RSJ Int. Conf. on Robots and Systems (IROS), pages1 – 6, 2007.
[5] M. Toussaint. Robot trajectory optimization using approximate inference. In 25th Int. Conf. on Machine Learning (ICML), pages 1049– 1056, 2009.
[6] O. Brock and O. Khatib. Elastic strips: A framework for motion generation in human environments. Int. J. of Robotics Research, 21(12):1031 – 1052, 2002 S.
[7] T. Fraichard, M. Hassoun, and C. Laugier. Reactive motion planning in a dynamic world. In Proc. of the IEEE Int. Conf. on Advanced Robotics, pages 1028 – 1032, 1991..
[8] E. Yoshida and F. Kanehiro. Reactive robot motion using path replanning and deformation. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 5457 – 5462, 2011.
[9] M. Barbehenn, P.C. Chen, and S. Hutchinson. An efficient hybrid planner in changing environments. In IEEE Int. Conf. on Robotics and Automation, volume 4, pages 2755 – 2760, 1994.
[10] J. Vannoy and J. Xiao. Real-time adaptive motion planning (ramp) of mobile manipulators in dynamic environments with unforeseen changes. IEEE Trans. on Robotics, 24:1199 – 1212, 2008
[11] Y. Yang and O. Brock. Elastic roadmaps: Globally task-consistent motion for autonomous mobile manipulation in dynamic environments. In Proc. Robotics: Science and Systems, 2007
[12] H. Hoffmann, P. Pastor, D.-H. Park, and S. Schaal. Biologically inspired dynamical systems for movement generation: automatic real-time goal adaptation and obstacle avoidance. In Proc. of Int.Conf. on Robotics and Automation, pages 2587 – 2592, 2009.
[13] H.J.S. Feder and J.-J.E. Slotine. Real-time path planning using harmonic potentials in dynamic environments. In Proc. of IEEE Int.Conf. on Robotics and Automation (ICRA), volume 1, pages 874 –881, 1997.
[14] Farhad Asadi, Mohammadjavad Mollakazemi, “Investigation of fluctuation locations and effect of data distribution in time series dynamical regimes”.. Accepted and oral presentation in ICBCBBE 2014: XII International Conference on Bioinformatics, Computational Biology and Biomedical Engineering, October, 27-28, 2014, Istanbul, Turkey.
[15] Farhad Asadi, Mohammadjavad Mollakazemi, “The influence of parameters of modeling and data distribution for optimal condition on locally weighted projection regression method”.. Accepted and oral presentation in ICMSE 2014: XII International Conference on Mathematics and Statistical Engineering, October, 27-28, 2014, Istanbul, Turkey.