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Reactive control in environments with hard and soft hazards
MIT.
MIT.
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2012, 2863-2868 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a generalization of reactive obstacle avoidance algorithms for mobile robots operating among soft hazards such as off-road slopes and deformable terrain. A new hazard avoidance scheme generalizes constraint based reactive algorithms [1], [2] from hard to soft hazards. Reactive controllers operate by directly parameterizing the closedloop dynamics of the system with respect to the environment the robot is operating in. Traditionally, reactive controllers are parameterized by weighting virtual attraction and repulsion forces from goals and obstacles [3], [4]. One pitfall of such parameterizations is sensitivity of the tuning parameters to the operating environment. A reactive controller tuned in one set of conditions is not applicable in another (e.g. a different density of obstacles). The algorithm presented in this paper has two key properties which are significant i) Parameterization is environment independent. ii) It can deal with non-binary environments that contain soft hazards. © 2012 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2012. 2863-2868 p.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
Aerospace electronics, Equations, Hazards, Mathematical model, Topology, Trajectory, Vehicles
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20827DOI: 10.1109/IROS.2012.6385750Scopus ID: 2-s2.0-84872303650ISBN: 978-146731737-5 OAI: oai:DiVA.org:hh-20827DiVA: diva2:586706
Conference
25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7-12 October, 2012
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-20Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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