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Computer Science > Robotics

arXiv:2212.05815 (cs)
[Submitted on 12 Dec 2022 (v1), last revised 4 Aug 2023 (this version, v2)]

Title:Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators

Authors:Marvin Becker, Philipp Caspers, Tom Hattendorf, Torsten Lilge, Sami Haddadin, Matthias A. Müller
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Abstract:In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches.
Comments: Accepted to IFAC World Congress 2023
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2212.05815 [cs.RO]
  (or arXiv:2212.05815v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2212.05815

Submission history

From: Marvin Becker [view email]
[v1] Mon, 12 Dec 2022 10:25:24 UTC (3,899 KB)
[v2] Fri, 4 Aug 2023 08:37:28 UTC (3,831 KB)
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