Obstacle avoidance with kinetic energy buffer
Pitkänen, V.; Pennanen, T.; Tikanmäki, A.; Röning, J. (2021-10-18)
Pitkänen, V.
Pennanen, T.
Tikanmäki, A.
Röning, J.
Institute of Electrical and Electronics Engineers
18.10.2021
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
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© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2021111154657
https://urn.fi/URN:NBN:fi-fe2021111154657
Tiivistelmä
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.
Kokoelmat
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