{"title":"Velocity Obstacle-based Trajectory Planner for Two-Link Planar Manipulators","authors":"Federico Vesentini, Riccardo Muradore","doi":"10.23919/ecc54610.2021.9655184","DOIUrl":null,"url":null,"abstract":"Velocity Obstacle paradigm is one of the most popular and studied decentralized trajectory planning methods for multi-agent systems moving in dynamic environments. It has been successfully used in a multitude of real and simulated scenarios for the collision-free maneuver of ground or aerial mobile robots. In this paper we address the problem of adapting Velocity Obstacles to provide collision-free trajectories also for robotic manipulators with dynamic obstacles in their workspace. Simulation results show the effectiveness of the proposed approach.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"295 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 European Control Conference (ECC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ecc54610.2021.9655184","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Velocity Obstacle paradigm is one of the most popular and studied decentralized trajectory planning methods for multi-agent systems moving in dynamic environments. It has been successfully used in a multitude of real and simulated scenarios for the collision-free maneuver of ground or aerial mobile robots. In this paper we address the problem of adapting Velocity Obstacles to provide collision-free trajectories also for robotic manipulators with dynamic obstacles in their workspace. Simulation results show the effectiveness of the proposed approach.
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