University of Oulu

V. Pitkänen, T. Pennanen, A. Tikanmäki and J. Röning, "Obstacle Avoidance with Kinetic Energy Buffer," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 8280-8286, doi: 10.1109/ICRA48506.2021.9561458

Obstacle avoidance with kinetic energy buffer

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Author: Pitkänen, V.1; Pennanen, T.1; Tikanmäki, A.1;
Organizations: 1Biomimetics and Intelligent Systems Group, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.6 MB)
Persistent link: http://urn.fi/urn:nbn:fi-fe2021111154657
Language: English
Published: Institute of Electrical and Electronics Engineers, 2021
Publish Date: 2021-11-11
Description:

Abstract

This paper presents Kinetic Energy Difference (KED) as a metric for collision proximity. The calculation of KED for differentially driven robots is explained, along with an example obstacle avoidance algorithm that utilizes it. This example algorithm is computationally efficient and simulations show that it is capable of guiding robots with slow dynamics through narrow corridors.

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Series: IEEE International Conference on Robotics and Automation
ISSN: 2152-4092
ISSN-E: 2379-9552
ISSN-L: 2152-4092
ISBN: 978-1-7281-9077-8
ISBN Print: 978-1-7281-9078-5
Pages: 8280 - 8286
DOI: 10.1109/ICRA48506.2021.9561458
OADOI: https://oadoi.org/10.1109/ICRA48506.2021.9561458
Host publication: 2021 IEEE International Conference on Robotics and Automation (ICRA)
Conference: IEEE International Conference on Robotics and Automation
Type of Publication: A4 Article in conference proceedings
Field of Science: 113 Computer and information sciences
213 Electronic, automation and communications engineering, electronics
Subjects:
Funding: The authors would like to thank the Finnish Cultural Foundation, the University of Oulu Graduate School (UniOGS) and Infotech Oulu for making this research possible. The authors would also like to thank BSc Timo Mäenpää for his help with section V.
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