Obstacle avoidance for Dynamic Movement Primitives (DMPs) is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to include the velocity of the system in the definition of the potential. Our formulations guarantee smoother behavior with respect to state-of-the-art point-like methods. Moreover, our new formulation allows obtaining a smoother behavior in proximity of the obstacle than when using a static (i.e. velocity independent) potential. We validate our framework for obstacle avoidance in a simulated multi-robot scenario and with different real robots: a pick- and-place task for an industrial manipulator and a surgical robot to show scalability; and navigation with a mobile robot in a dynamic environment.


    Access

    Download


    Export, share and cite



    Title :

    Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions



    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Lunar Excavator Mission Operations using Dynamic Movement Primitives

    Joseph M. Cloud / Minh Q. Tram / William J. Beksi et al. | NTRS


    Shape using volumetric primitives

    Munck-Fairwood, R. C. / Du, L. | British Library Online Contents | 1993


    Dynamic map for obstacle avoidance

    Zhang Huiliang, / Huang Shell Ying, | IEEE | 2003