Set-based collision avoidance applications to robotic systems. (August 2020)

• Record Type: Journal Article
• Authors: Moe, Signe; Pettersen, Kristin Y.; Gravdahl, Jan Tommy
• Is Part Of: Mechatronics. Volume 69(2020)
• Publication Date: 2020-08
• Subjects: Collision avoidance -- Kinematic control -- Robotic manipulator -- Unmanned surface vessel -- Unicycle -- Multi-agent system; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2020.102399
• Languages: English
• ISSNs: 0957-4158

Abstract

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.