Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction

Lukas Huber; Aude Billard; Jean-Jacques E. Slotine

RA-L 201999 citations

Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction

Lukas Huber, Aude Billard, Jean-Jacques E. Slotine

Abstract

This letter presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prove impenetrability of the obstacles hull and asymptotic stability at a final goal location, using contraction theory. We validate the approach in a simulated co-worker industrial environment, with one KUKA arm engaged in a pick and place grocery task, avoiding in real-time humans moving in its vicinity and in simulation to drive wheel-chair robot in the presence of moving obstacles.

BibTeX

@inproceedings{ral2019_avoidanceofconve,
  title = {Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction},
  author = {Lukas Huber and Aude Billard and Jean-Jacques E. Slotine},
  booktitle = {RA-L 2019},
  year = {2019}
}