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dc.contributor.authorIagnemma, Karl
dc.contributor.authorKarumanchi, Sisir B.
dc.date.accessioned2014-05-05T18:44:04Z
dc.date.available2014-05-05T18:44:04Z
dc.date.issued2012-10
dc.identifier.isbn978-1-4673-1736-8
dc.identifier.isbn978-1-4673-1737-5
dc.identifier.isbn978-1-4673-1735-1
dc.identifier.urihttp://hdl.handle.net/1721.1/86413
dc.description.abstractIn this paper we present a generalization of reactive obstacle avoidance algorithms for mobile robots operating among soft hazards such as off-road slopes and deformable terrain. A new hazard avoidance scheme generalizes constraint based reactive algorithms [1], [2] from hard to soft hazards. Reactive controllers operate by directly parameterizing the closedloop dynamics of the system with respect to the environment the robot is operating in. Traditionally, reactive controllers are parameterized by weighting virtual attraction and repulsion forces from goals and obstacles [3], [4]. One pitfall of such parameterizations is sensitivity of the tuning parameters to the operating environment. A reactive controller tuned in one set of conditions is not applicable in another (e.g. a different density of obstacles). The algorithm presented in this paper has two key properties which are significant i) Parameterization is environment independent. ii) It can deal with non-binary environments that contain soft hazards.en_US
dc.description.sponsorshipU.S. Army Research Laboratoryen_US
dc.description.sponsorshipUnited States. Army Research Office (Contract/Grant W911NF-11-C-0101)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2012.6385750en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceKarumanchien_US
dc.titleReactive control in environments with hard and soft hazardsen_US
dc.typeArticleen_US
dc.identifier.citationKarumanchi, Sisir, and Karl Iagnemma. “Reactive Control in Environments with Hard and Soft Hazards.” 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (n.d.).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Laboratory for Manufacturing and Productivityen_US
dc.contributor.approverKarumanchi, Sisir B.en_US
dc.contributor.mitauthorIagnemma, Karlen_US
dc.contributor.mitauthorKarumanchi, Sisir B.en_US
dc.relation.journalProceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsKarumanchi, Sisir; Iagnemma, Karlen_US
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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