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.
Original languageEnglish
Number of pages5
Publication statusPublished - 30 Aug 2006
EventInternational Control Conference 2006 - Glasgow, UK
Duration: 30 Aug 20061 Sep 2006
http://ukacc.group.shef.ac.uk/Control_Conferences/Control2006/icc2006.htm

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

Keywords

  • superquadric
  • quaternion
  • motion planning
  • robotics

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  • 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, .