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Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots

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Book cover Algorithmic Foundations of Robotics XI

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 107))

Abstract

We present a novel algorithm for smooth and collision-free navigation for multiple human-like robots. Our approach combines reciprocal collision avoidance with kinematic and dynamic stability constraints to compute a non-oscillatory trajectory for each high-DOF robot. We use a multi-level optimization algorithm that combines acceleration-velocity obstacles with trajectory optimization. We highlight our algorithm’s performance in different environments containing multiple human-like robots with tens of DOFs.

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Acknowledgments

This research is supported in part by ARO Contract W911NF-10-1-0506, NSF awards 1000579, 1117127 and 1305286, and a grant from Sandia Labs.

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Authors and Affiliations

  1. University of North Carolina, Chapel Hill, NC, 27599, USA

    Chonhyon Park & Dinesh Manocha

Authors
  1. Chonhyon Park
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  2. Dinesh Manocha
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Correspondence to Chonhyon Park .

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Editors and Affiliations

  1. Department of Computer Engineering, Bogazici University, Istanbul, Turkey

    H. Levent Akin

  2. Department of Computer Science and Engineering, Texas A&M University, College Station, Texas, USA

    Nancy M. Amato

  3. Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA

    Volkan Isler

  4. Department of Information and Computing Sciences, Utrecht University, Utrecht, Utrecht, The Netherlands

    A. Frank van der Stappen

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Park, C., Manocha, D. (2015). Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots. In: Akin, H., Amato, N., Isler, V., van der Stappen, A. (eds) Algorithmic Foundations of Robotics XI. Springer Tracts in Advanced Robotics, vol 107. Springer, Cham. https://doi.org/10.1007/978-3-319-16595-0_29

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  • DOI: https://doi.org/10.1007/978-3-319-16595-0_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16594-3

  • Online ISBN: 978-3-319-16595-0

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