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Real-time obstacle avoidance for manipulators and mobile robots
Abstract
This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept. In this approach, collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, allowing real-time robot operations in a complex environment. We have applied this obstacle avoidance scheme to robot arm using a new approach to the general problem of real-time manipulator control. We reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. This method has been implemented in the COSMOS system for a PUMA 560 robot. Using visual sensing, real-time collision avoidance demonstrations on moving obstacles have been performed.
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Research works printed but not linked: 12
- buckley, 1985, The application of continuum methods to path planning
- brooks, 1984, Robotics in Three Acts (Film)
- khatib, 1984, Real-Time Control of Manipulators in Operational Space, 28th Annual Stanford Conference of the American Society for Quality Control
- ?hatih, 1978, Fonction Decision-Commande d'un Robot Manipulateur
- lozano-perez, 1980, Spatial Planning a Configuration Space Approach
- chatila, 1981, Syst�me de navigation pour robot mobile autonome mod�lisation et processus de d�scision
- moravee, 1980, Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover
- khatib, 1980, Commande dynamique dans l'espace op�rationnel des robots manipulateurs en pr�sence d'obstacles
- khatib, 1978, Dynamic Control of Manipulators Operating in a Complex Environment 3 CISM-IFToMM Udine
- brooks, 1984, Aspects of Mobile Robot Visual Map Making, Second International Symposium of Robotics Research
- khatib, 1983, Dynamic Control of Manipulators in Operational Space, Sixth CISM-IFToMM Congress on Theory of Machines and Mechanisms
- 10.1109/TSMC.1983.6313112 · DOI · Paper page
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Metadata
- Authors
- Khatib, O.
- Venue
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 2
- Pages
- 500-505
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2177274602
- Cited by
- 1,757
- References
- 0
- FWCI
- 28.40
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Khatib, O. (2005). Real-time obstacle avoidance for manipulators and mobile robots. Proceedings. 1985 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1985.1087247
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
