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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
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| Publish Date: | 2021-11-11 |
| Description: |
AbstractThis 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. see all
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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. |
| Copyright information: |
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