Separation distance for robot motion control using superquadratic obstacle potentials

Ahmed Badawy, Colin McInnes

Research output: Contribution to conferencePaper

Abstract

The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a superquadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.

Conference

ConferenceInternational Control Conference 2006
Abbreviated titleICC2006
CityGlasgow, UK
Period30/08/061/09/06
OtherThe Conference covers Methods, Technology, Applications and Education in Control Engineering. UKACC seeks to act as an effective link between the UK and the international control communities, and to provide a focus for International Federation of Automatic Control (IFAC) related activities. UKACC has three constituent members: The Institution of Engineering and Technology (IET), The Institute of Measurement and Control (IMC), and The Institution of Mechanical Engineers (IMechE).
Internet address

Fingerprint

Motion control
Robots

Keywords

  • superquadric
  • quaternion
  • motion planning
  • robotics

Cite this

Badawy, A., & McInnes, C. (2006). Separation distance for robot motion control using superquadratic obstacle potentials. Paper presented at International Control Conference 2006, Glasgow, UK, .
Badawy, Ahmed ; McInnes, Colin. / Separation distance for robot motion control using superquadratic obstacle potentials. Paper presented at International Control Conference 2006, Glasgow, UK, .5 p.
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abstract = "The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a superquadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.",
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author = "Ahmed Badawy and Colin McInnes",
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day = "30",
language = "English",
note = "International Control Conference 2006, ICC2006 ; Conference date: 30-08-2006 Through 01-09-2006",
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Badawy, A & McInnes, C 2006, 'Separation distance for robot motion control using superquadratic obstacle potentials' Paper presented at International Control Conference 2006, Glasgow, UK, 30/08/06 - 1/09/06, .

Separation distance for robot motion control using superquadratic obstacle potentials. / Badawy, Ahmed; McInnes, Colin.

2006. Paper presented at International Control Conference 2006, Glasgow, UK, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Separation distance for robot motion control using superquadratic obstacle potentials

AU - Badawy, Ahmed

AU - McInnes, Colin

PY - 2006/8/30

Y1 - 2006/8/30

N2 - The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a superquadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.

AB - The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a superquadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.

KW - superquadric

KW - quaternion

KW - motion planning

KW - robotics

UR - http://ukacc.group.shef.ac.uk/Control_Conferences/Control2006/papers/f25.pdf

M3 - Paper

ER -

Badawy A, McInnes C. Separation distance for robot motion control using superquadratic obstacle potentials. 2006. Paper presented at International Control Conference 2006, Glasgow, UK, .