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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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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