Guidance laws, obstacle avoidance and artificial potential functions

2011 ◽  
pp. 43-66 ◽  
Author(s):  
A. Healey
Keyword(s):  
Obstacle Avoidance ◽  
Potential Functions ◽  
Guidance Laws

Multi-Robot nonlinear model predictive formation control: the obstacle avoidance problem

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 549-567 ◽  
Author(s):  
Tiago P. Nascimento ◽  
André G. S. Conceição ◽  
António Paulo Moreira
Keyword(s):  
Obstacle Avoidance ◽  
Nonlinear Model ◽  
Formation Control ◽  
Potential Functions ◽  
Robot Systems ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Moving Obstacle ◽  
Avoidance Problem ◽  
Multi Robot

SUMMARYThis paper discusses about a proposed solution to the obstacle avoidance problem in multi-robot systems when applied to active target tracking. It is explained how a nonlinear model predictive formation control (NMPFC) previously proposed solves this problem of fixed and moving obstacle avoidance. First, an approach is presented which uses potential functions as terms of the NMPFC. These terms penalize the proximity with mates and obstacles. A strategy to avoid singularity problems with the potential functions using a modified A* path planning algorithm was then introduced. Results with simulations and experiments with real robots are presented and discussed demonstrating the efficiency of the proposed approach.

Obstacle Avoidance for 2D Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

2001 ◽  
Author(s):  
F. Fahimi ◽  
H. Ashrafiuon ◽  
C. Nataraj
Keyword(s):  
Obstacle Avoidance ◽  
Dimensional Space ◽  
Potential Functions ◽  
Harmonic Potential ◽  
Redundant Manipulators ◽  
Two Dimensional ◽  
Algebraic Equations ◽  
Backbone Curve ◽  
Cluttered Environments ◽  
Fitting Method

Abstract Obstacle avoidance for discrete-link two-dimensional (2D) hyper-redundant manipulators in known environments is considered. The manipulator is divided into two sections, a proximal section that has not entered the space among obstacles and a distal section among the obstacles. Harmonic potential functions were used, in order to avoid local minima in cluttered environments. A modified panel method is used to generate the potential of any arbitrary shaped obstacle in two-dimensional space. An alternative backbone curve concept and an efficient fitting method are introduced to control the trajectory of proximal links. The fitting method is recursive and avoids the complications involved with solving large systems of nonlinear algebraic equations. Combination of the safe path derived from the harmonic potential field and the backbone curve concept leads to an elegant kinematic control strategy that guarantees obstacle avoidance for planar hyper-redundant robotic manipulators.

Quad-rotors formation based on potential functions with obstacle avoidance

2012 ◽  
Vol 6 (12) ◽  
pp. 1787-1802 ◽  
Author(s):  
L. García-Delgado ◽  
A. Dzul ◽  
V. Santibáñez ◽  
M. Llama
Keyword(s):  
Obstacle Avoidance ◽  
Potential Functions
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