A dynamical system approach to realtime obstacle avoidance

摘要: This paper presents a novel approach to real-time obstacle avoidance based on Dynamical Systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied perform in Cartesian and Joint spaces using both autonomous non-autonomous DS-based controllers. Obstacle proceeds by modulating the original dynamics controller. modulation is parameterizable allows determine safety margin increase robot's reactiveness face uncertainty localization obstacle. validated simulation different types DS including locally globally asymptotically stable DS, limit cycles, unstable DS. Further, we verify it several robot experiments 7 degrees freedom Barrett WAM arm.