Kaldestad, Knut B. and Haddadin, Sami and Belder, Rico and Hovland, Geir and Anisi, David A. (2014) Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU. In: IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation (ICRA), 2014, 2014-05-31 - 2014-06-07, Hong Kong. doi: 10.1109/icra.2014.6907326.
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Abstract
In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily adjusted. Based on the 3D robot representation and the remaining 3D environment data, the virtual forces that are fed to the trajectory plan- ning and torque controller are calculated. The algorithm is experimentally verified with a 7-Degree of Freedom (DoF) torque controlled KUKA/DLR Lightweight Robot for static and dynamic environmental conditions. To the authors knowledge, this is the first time that collision avoidance is demonstrated in real-time on a real robot using parallel GPU processing.
Item URL in elib: | https://elib.dlr.de/90098/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
Additional Information: | Accepted | ||||||||||||||||||||||||
Title: | Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU | ||||||||||||||||||||||||
Authors: |
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Date: | 2014 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
DOI: | 10.1109/icra.2014.6907326 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | parallel processing, collision avoidance, reactive motion generation, potential fields, GPU 3D-Point Cloud Computation | ||||||||||||||||||||||||
Event Title: | International Conference on Robotics and Automation (ICRA), 2014 | ||||||||||||||||||||||||
Event Location: | Hong Kong | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Start Date: | 31 May 2014 | ||||||||||||||||||||||||
Event End Date: | 7 June 2014 | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||
Deposited By: | Belder, Rico | ||||||||||||||||||||||||
Deposited On: | 08 Sep 2014 10:12 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:55 |
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