Dynamic obstacle avoidance in a robotic system

摘要

A robotic system includes an end-effector, an input device, and a controller. The input device is operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector. The dynamic obstacle has an arbitrary shape. The controller is in communication with the end-effector and is programmed to execute a method and thereby receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle. The controller computes a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi algorithm, and controls the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle.

主权项

1. A robotic system comprising:
an end-effector; an input device operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector, wherein the dynamic obstacle has an arbitrary shape; and a controller in communication with the end-effector, wherein the controller is programmed to receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle, to compute a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi (GJK) algorithm, and to control the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle; wherein the controller is programmed with a dynamical system module (DSM) which outputs a desired control velocity command to the end-effector as a commanded motion trajectory, and the set of inputs further includes an actual position and velocity of the end-effector and a desired goal position of the end-effector, and wherein the controller further includes a harmonic potential modulator (HPM) in communication with the DSM that receives the actual velocity of the end-effector, the position and velocity of the dynamic obstacle, and the desired control velocity command as inputs, and generates a modulated desired velocity command as part of the output command.