论文标题
动态运动原始素：使用动态电势功能避免体积障碍物
Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions
论文作者
论文摘要
避免DMP的障碍仍然是一个具有挑战性的问题。在我们以前的工作中，我们提出了一个基于超级潜在功能来代表体积的障碍的框架。在这项工作中，我们将以前的工作扩展到将轨迹的速度包括在潜力的定义中。我们的公式保证了针对最先进的点样方法的更平稳的行为。此外，与使用静态（即速度独立性）电位相比，我们的新配方允许在障碍物接近障碍方面获得更平滑的行为。我们在模拟的多机器人方案和不同的真实机器人中验证了避免障碍物的框架：工业操纵器的拾取任务和外科机器人显示可扩展性；并在动态环境中使用移动机器人导航。
Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to include the velocity of the trajectory in the definition of the potential. Our formulations guarantee smoother behavior with respect to state-of-the-art point-like methods. Moreover, our new formulation allows to obtain a smoother behavior in proximity of the obstacle than when using a static (i.e. velocity independent) potential. We validate our framework for obstacle avoidance in a simulated multi-robot scenario and with different real robots: a pick-and-place task for an industrial manipulator and a surgical robot to show scalability; and navigation with a mobile robot in dynamic environment.
