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Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU

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, 31 May - 7 Jun 2014, Hong Kong.

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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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kaldestad, Knut B.knut.b.kaldestad (at) uia.noUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Belder, Ricorico.belder (at) dlr.deUNSPECIFIED
Hovland, Geirgeir.hovland (at) uia.noUNSPECIFIED
Anisi, David A.david.anisi (at) no.abb.comUNSPECIFIED
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
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 Dates:31 May - 7 Jun 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:31 Jul 2019 19:47

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