TY - GEN
T1 - Orientation-aware motion planning in complex workspaces using adaptive harmonic potential fields
AU - Vlantis, Panagiotis
AU - Vrohidis, Constantinos
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
The authors are with the Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece. {vlantis, vroh, chmpechl, kkyria}@mail.ntua.gr This research is co-financed by Greece and the European Union (European Social Fund – ESF) through the Operational Programme “Human Resources Development, Education and Lifelong Learning” in the context of the project “Strengthening Human Resources Research Potential via Doctorate Research” (MIS-5000432), implemented by the State Scholarships Foundation (IKY). The presentation of this paper was partially made possible through a travel grant by the “C. Mavroidis Award of Excellence in Robotics and Automation” at the NTUA.
Funding Information:
This research is co-financed by Greece and the European Union (European Social Fund ? ESF) through the Operational Programme "Human Resources Development, Education and Lifelong Learning" in the context of the project "Strengthening Human Resources Research Potential via Doctorate Research" (MIS- 5000432), implemented by the State Scholarships Foundation (IKY).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - In this work, a hybrid control scheme is presented in order to address the navigation problem for a planar robotic platform of arbitrary shape that is moving inside an obstacle cluttered workspace. Given an initial and desired robot configuration, we propose a methodology based on approximate configuration space decomposition techniques that makes use of heuristics to adaptively refine a partition of the configuration space into non-overlapping, adjacent slices. Furthermore, we employ appropriate workspace transformations and adaptive potential field based control laws that integrate elegantly with the type of configuration space representation used, in order to safely navigate within a given cell and successfully cross over to the next, for almost all initial configurations, until the desired configuration is reached. Finally, we present simulation results that demonstrate the efficacy of the proposed control scheme.
AB - In this work, a hybrid control scheme is presented in order to address the navigation problem for a planar robotic platform of arbitrary shape that is moving inside an obstacle cluttered workspace. Given an initial and desired robot configuration, we propose a methodology based on approximate configuration space decomposition techniques that makes use of heuristics to adaptively refine a partition of the configuration space into non-overlapping, adjacent slices. Furthermore, we employ appropriate workspace transformations and adaptive potential field based control laws that integrate elegantly with the type of configuration space representation used, in order to safely navigate within a given cell and successfully cross over to the next, for almost all initial configurations, until the desired configuration is reached. Finally, we present simulation results that demonstrate the efficacy of the proposed control scheme.
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U2 - 10.1109/ICRA.2019.8794053
DO - 10.1109/ICRA.2019.8794053
M3 - Conference contribution
AN - SCOPUS:85071487344
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8592
EP - 8598
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -