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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Abstract
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.
Publishing Year
Conference
11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2011
Location
Bled, Slovenia
Conference Date
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.
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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