Deformable Trees - Exploiting Local Obstacle Avoidance

Behnisch M, Gienger M, Haschke R, Ritter H (2011)
In: IEEE/RAS International Conference on Humanoid Robots 2011. Piscataway, NJ: IEEE: 658-663.

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Konferenzbeitrag | Veröffentlicht | Englisch
Abstract / Bemerkung
This work describes a hybrid trajectory planning approach for redundant robots, combining a local obstacle avoidance control framework with a global sampling-based planning component. The complexity induced by the high dimensionality of the configuration space is counteracted by shifting the global search to a low dimensional task space representation. It is shown how an advanced autonomy of the controller to locally circumvent obstacles can be exploited to speed up global planning and to increase the robustness of planned trajectories against small obstacle disturbances.
Erscheinungsjahr
Titel des Konferenzbandes
IEEE/RAS International Conference on Humanoid Robots 2011
Seite
658-663
Konferenz
11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2011
Konferenzort
Bled, Slovenia
Konferenzdatum
2011-10-26 – 2011-10-28
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Behnisch M, Gienger M, Haschke R, Ritter H. Deformable Trees - Exploiting Local Obstacle Avoidance. In: IEEE/RAS International Conference on Humanoid Robots 2011. Piscataway, NJ: IEEE; 2011: 658-663.
Behnisch, M., Gienger, M., Haschke, R., & Ritter, H. (2011). Deformable Trees - Exploiting Local Obstacle Avoidance. IEEE/RAS International Conference on Humanoid Robots 2011, 658-663. doi:10.1109/humanoids.2011.6100876
Behnisch, M., Gienger, M., Haschke, R., and Ritter, H. (2011). “Deformable Trees - Exploiting Local Obstacle Avoidance” in IEEE/RAS International Conference on Humanoid Robots 2011 (Piscataway, NJ: IEEE), 658-663.
Behnisch, M., et al., 2011. Deformable Trees - Exploiting Local Obstacle Avoidance. In IEEE/RAS International Conference on Humanoid Robots 2011. Piscataway, NJ: IEEE, pp. 658-663.
M. Behnisch, et al., “Deformable Trees - Exploiting Local Obstacle Avoidance”, IEEE/RAS International Conference on Humanoid Robots 2011, Piscataway, NJ: IEEE, 2011, pp.658-663.
Behnisch, M., Gienger, M., Haschke, R., Ritter, H.: Deformable Trees - Exploiting Local Obstacle Avoidance. IEEE/RAS International Conference on Humanoid Robots 2011. p. 658-663. IEEE, Piscataway, NJ (2011).
Behnisch, Matthias, Gienger, Michael, Haschke, Robert, and Ritter, Helge. “Deformable Trees - Exploiting Local Obstacle Avoidance”. IEEE/RAS International Conference on Humanoid Robots 2011. Piscataway, NJ: IEEE, 2011. 658-663.
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Humanoids2011-Behnisch.pdf
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Zuletzt Hochgeladen
2011-10-09T17:05:42Z

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