icra2021passivenavigation.pdf (2.71 MB)
A passive navigation planning algorithm for collision-free control of mobile robots
conference contribution
posted on 2023-06-10, 02:02 authored by Carlo TiseoCarlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry, Sethu VijayakumarPath planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant computational resources to be effectively deployed and they may have limited generality. We propose a planning algorithm based on a globally stable passive controller that can plan smooth trajectories using limited computational resources in challenging environmental conditions. The architecture combines the recently proposed fractal impedance controller with elastic bands and regions of finite time invariance. As the method is based on an impedance controller, it can also be used directly as a force/torque controller. We validated our method in simulation to analyse the ability of interactive navigation in challenging concave domains via the issuing of via-points, and its robustness to low bandwidth feedback. A swarm simulation using 11 agents validated the scalability of the proposed method. We have performed hardware experiments on a holonomic wheeled platform validating smoothness and robustness of interaction with dynamic agents (i.e., humans and robots). The computational complexity of the proposed local planner enables deployment with low-power micro-controllers lowering the energy consumption compared to other methods that rely upon numeric optimisation.
History
Publication status
- Published
File Version
- Accepted version
Journal
2021 IEEE International Conference on Robotics and Automation (ICRA)ISSN
1050-4729Publisher
IEEEExternal DOI
Page range
8223-8229Event name
2021 IEEE International Conference on Robotics and Automation (ICRA)Event location
Xi'an, ChinaEvent type
conferenceEvent date
30 May 2021 - 5 Jun 2021ISBN
9781728190785Department affiliated with
- Engineering and Design Publications
Notes
© 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 worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-12-20First Open Access (FOA) Date
2021-12-20First Compliant Deposit (FCD) Date
2021-12-20Usage metrics
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