Collision avoidance based on separating planes for feet trajectory generation

Stanislas Brossette 1 Pierre-Brice Wieber 2
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In this paper, we present a formulation of the collision avoidance constraints that relies on the use of separating planes instead of a distance function. This formulation has the advantage of being defined and continuously differentiable in every situation. Because it introduces additional variables to the optimization problems, making it bigger and potentially slowing down its resolution, we propose a different resolution method that takes advantage of the independence of the variables, to form two subproblems that can be solved efficiently in an alternate problem fashion. We present some preliminary results using this approach in order to highlight its potential and promises in terms of convergence speed and robustness.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [14 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01639745
Contributor : Brossette Stanislas <>
Submitted on : Monday, November 20, 2017 - 3:33:18 PM
Last modification on : Thursday, February 7, 2019 - 5:28:40 PM
Document(s) archivé(s) le : Wednesday, February 21, 2018 - 1:40:38 PM

File

brossette-2017-separating_plan...
Files produced by the author(s)

Identifiers

Collections

Citation

Stanislas Brossette, Pierre-Brice Wieber. Collision avoidance based on separating planes for feet trajectory generation. Humanoids 2017 - IEEE RAS International Conference on Humanoid Robots , Nov 2017, Birmingham, United Kingdom. pp.509-514, ⟨10.1109/HUMANOIDS.2017.8246920⟩. ⟨hal-01639745⟩

Share

Metrics

Record views

718

Files downloads

181