Obstacle Avoidance with Kinetic Energy Buffer

V. Pitkänen; T. Pennanen; A. Tikanmäki; J. Röning

ICRA 2021poster2 citations

Obstacle Avoidance with Kinetic Energy Buffer

V. Pitkänen, T. Pennanen, A. Tikanmäki, J. Röning

Abstract

This 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.

BibTeX

@inproceedings{icra2021_obstacleavoidanc,
  title = {Obstacle Avoidance with Kinetic Energy Buffer},
  author = {V. Pitkänen and T. Pennanen and A. Tikanmäki and J. Röning},
  booktitle = {ICRA 2021},
  year = {2021}
}