Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics
Name
Avoidance_of_Concave_Obstacles_Through_Rotation_of_Nonlinear_Dynamics.pdf
Description
Published version
Size
6.85 MB
Format
Adobe PDF
Checksum (MD5)
19ef8cfe2264a3651c4825f964c87633
Author(s)
Huber, Lukas
Slotine, Jean-Jacques
Billard, Aude
Date Issued
2024
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers
Citation
L. Huber, J. -J. Slotine and A. Billard, "Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics," in IEEE Transactions on Robotics, vol. 40, pp. 1983-2002, 2024.
Version
Final published version
Abstract
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) for adapting the initial dynamics when obstacles partially occlude the workspace. ROAM presents a closed-form solution that effectively avoids star-shaped obstacles in spaces of arbitrary dimensions by rotating the initial dynamics toward the tangent space. The algorithm enables navigation within obstacle hulls and can be customized to actively move away from surfaces while guaranteeing the presence of only a single saddle point on the boundary of each obstacle. We introduce a sequence of mappings to extend the approach for general nonlinear dynamics. Moreover, ROAM extends its capabilities to handle multiobstacle environments and provides the ability to constrain dynamics within a safe tube. By utilizing weighted vector-tree summation, we successfully navigate around general concave obstacles represented as a tree-of-stars. Through experimental evaluation, ROAM demonstrates superior performance in minimizing occurrences of local minima and maintaining similarity to the initial dynamics, outperforming existing approaches in multiobstacle simulations. Due to its simplicity, the proposed method is highly reactive and can be applied effectively in dynamic environments. This was demonstrated during the collision-free navigation of a 7-degree-of-freedom robot arm around dynamic obstacles.
MIT Department
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tro.2023.3344034
