Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Self-Collision Detection/Avoidance for a Rescue Robot by Modified Skeleton Algorithm

보완 골격 알고리듬을 이용한 구난로봇의 자체 충돌감지/회피

  • Lee, Wonsuk (Defense Unmanned Technology Center, The 5th Research and Development Institute, Agency for Defense Development) ;
  • Hong, Seongil (Defense Unmanned Technology Center, The 5th Research and Development Institute, Agency for Defense Development) ;
  • Park, Gyuhyun (Defense Unmanned Technology Center, The 5th Research and Development Institute, Agency for Defense Development) ;
  • Kang, Younsik (Defense Unmanned Technology Center, The 5th Research and Development Institute, Agency for Defense Development)
  • 이원석 (국방과학연구소 제5기술연구본부 국방무인기술센터) ;
  • 홍성일 (국방과학연구소 제5기술연구본부 국방무인기술센터) ;
  • 박규현 (국방과학연구소 제5기술연구본부 국방무인기술센터) ;
  • 강윤식 (국방과학연구소 제5기술연구본부 국방무인기술센터)
  • Received : 2014.11.18
  • Accepted : 2015.07.03
  • Published : 2015.08.05
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Abstract

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.

Keywords

References

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