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Stability of Robotic Obstacle Avoidance and Force Interaction

På svenska

Author

Summary, in English

Stability problems associated with robot control with obstacle avoidance are analyzed.Obstacle avoidance algorithms based on potential function are revised to accomplish stable re-design. A stability proof using Lyapunov theory and passivity theory is provided for the re-designed obstacle avoidance algorithm. The paper presents a modification of potential functions for obstacle avoidance aiming towards stable obstacle avoidance and force interaction. The input is modified to permit block decomposition into a strict positive real (SPR) block and a passive high-gain block. This modification suggested involves a velocity-dependent potential-like repulsive force action from the obstacle. Stability proofs using Lyapunov theory and passivity theory as well as simulations demonstrate asymptotic stability, eliminating oscillatory or divergent behaviors.

Publishing year

2009

Language

English

Pages

709-714

Publication/Series

Preprints 9th International Symposium on Robot Control (SYROCO'09)

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • Robot
  • Force Control
  • Obstacle Avoidance
  • Potential Functions
  • Stability

Conference name

9th IFAC International Symposium on Robot Control

Conference date

2009-09-09

Conference place

Gifu, Japan

Status

Published

Project

  • Robotics Lab LTH
  • ROSETTA
  • Stable Oscillations in Nonlinear Systems 2009-2010

Research group

  • LCCC