Collision Avoidance in Model Predictive Control using Velocity Damper - AGIMUS - Next generation of AI-powered robotics for agile production
Pré-Publication, Document De Travail Année : 2024

Collision Avoidance in Model Predictive Control using Velocity Damper

Résumé

We propose an advanced method for controlling the motion of a manipulator robot with strict collision avoidance in dynamic environments, leveraging a velocity damper constraint. Unlike conventional distance-based constraints, which tend to saturate near obstacles to reach optimality, the velocity damper constraint considers both distance and relative velocity, ensuring a safer separation. This constraint is incorporated into a model predictive control framework and enforced as a hard constraint through analytical derivatives supplied to the numerical solver. The approach has been fully implemented on a Franka Emika Panda robot and validated through experimental trials, demonstrating effective collision avoidance during dynamic tasks and robustness to unmodeled disturbances. An efficient open-source implementation along examples are provided here: https://gepettoweb.laas.fr/articles/ haffemayer2025.html.

Fichier principal
Vignette du fichier
ICRA_2025__1_-11.pdf (1.46 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
licence

Dates et versions

hal-04707324 , version 1 (24-09-2024)

Licence

Identifiants

  • HAL Id : hal-04707324 , version 1

Citer

Arthur Haffemayer, Armand Jordana, Ludovic de Matteïs, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Collision Avoidance in Model Predictive Control using Velocity Damper. 2024. ⟨hal-04707324⟩
0 Consultations
0 Téléchargements

Partager

More