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Published 20 hours ago • verified publisher icon b-it-bots

WIP: DMP Obstacle Avoidance

Open af-a opened this issue 4 years ago • 2 comments

Summary of changes

This pull request addresses part of #230. It introduces an implementation of DMP obstacle avoidance as presented in this paper, where a force term computed from the positions of intermediate obstacles is added to the differential equation governing the evolution of the modeled variable.

The list of object positions is obtained by querying the KB interface for objects within a short distance from the robot.

TODO before merging

  • [ ] Test and validate obstacle position to force term mapping on the HSR
  • [ ] Test with varying object types and quantities

af-a avatar Apr 30 '20 14:04 af-a