Abstract
A robotic system can consist of a single or multiple agents with a fixed or mobile base, with full or under-actuation, and possibly redundancy. Collision avoidance is a crucial task for any robotic system and is necessary to ensure safe operation. In this paper, we use a set-based approach to ensure collision avoidance as a high-priority task of a robotic system while simultaneously defining one or more tasks for the system to achieve. The set-based approach is highly generic and flexible, and we present theoretical results, practical implementation and experimental results of the approach applied to a redundant, fully actuated robot manipulator, a full-scale underactuated surface vessel and a multi-agent system of unicycles.
Highlights
Robotic systems are controlled in the joint space
In the experiments presented here, a joint reference qdes is calculated in the kinematic controller and sent to the dynamic controller, which is assumed to function nominally such that q ≈ qdes
This section introduces the kinematic equations for mobile robots, as well as the path following and collision avoidance methods used in the set-based approaches presented in Sections 6 and 8 for a single- and multi-agent system, respectively
Summary
We present experimental results for set-based collision avoidance for three different platforms, thereby illustrating the effectiveness and usefulness of this highly generic method: an industrial manipulator, unicycles and R/V Gunnerus, a 31 m research vessel (see Fig. 2). This paper presents new theoretical results where obstacles are represented as columns, which complements the previously presented representation of circular/spherical obstacles [18] These results are experimentally verified on a manipulator, which illustrates that set-based collision avoidance is not limited to obstacles of a specific shape.
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