Stability of Robotic Obstacle Avoidance and Force Interaction
Johansson, Rolf LU
and Robertsson, Anders
LU
(2009)
9th IFAC International Symposium on Robot Control
In IFAC Proceedings Volumes
42(16).
p.561-566
- Abstract
- Stability problems associated with robot control with obstacle avoidance are analysed. 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... (More)
- Stability problems associated with robot control with obstacle avoidance are analysed. 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/c0f7ab25-79e9-46e1-bb83-6faee8c66388
- author
- Johansson, Rolf
LU
and Robertsson, Anders
LU
- organization
- publishing date
- 2009
- type
- Contribution to journal
- publication status
- published
- in
- IFAC Proceedings Volumes
- volume
- 42
- issue
- 16
- pages
- 6 pages
- publisher
- Elsevier
- conference name
- 9th IFAC International Symposium on Robot Control
- conference location
- Gifu, Japan
- conference dates
- 2009-09-09
- DOI
- 10.3182/20090909-4-JP-2010.00095
- project
- RobotLab LTH
- ROSETTA
- language
- English
- LU publication?
- yes
- id
- c0f7ab25-79e9-46e1-bb83-6faee8c66388
- date added to LUP
- 2022-05-24 22:47:37
- date last changed
- 2022-06-29 08:15:38
@article{c0f7ab25-79e9-46e1-bb83-6faee8c66388,
abstract = {{Stability problems associated with robot control with obstacle avoidance are analysed. 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.}},
author = {{Johansson, Rolf and Robertsson, Anders}},
language = {{eng}},
number = {{16}},
pages = {{561--566}},
publisher = {{Elsevier}},
series = {{IFAC Proceedings Volumes}},
title = {{Stability of Robotic Obstacle Avoidance and Force Interaction}},
url = {{http://dx.doi.org/10.3182/20090909-4-JP-2010.00095}},
doi = {{10.3182/20090909-4-JP-2010.00095}},
volume = {{42}},
year = {{2009}},
}