Conference paper | Links: | HFR 2015 ProceedingsBibTeX entry | |
|---|---|---|---|
| Authors: | Angelika Zube | ||
| Source: | Proceedings of the Workshop on Human-Friendly Robotics, 2015. | ||
| Conference: | 8th International Workshop on Human-Friendly Robotics (HFR 2015), Garching, October 21 - 23, 2015 | ||
In this contribution, a Model Predictive Control
approach for collision avoidance of (mobile) manipulators is
extended to handle static and dynamic obstacles in a different
way. This is necessary to allow the robot to move close to known
static obstacles like tables and at the same time to maximize
the distance to dynamic obstacles like humans to ensure safety.
However, in both cases collision avoidance has to be guaranteed.