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Christopher Fourie
Приєднався 18 жов 2012
On-Manifold Strategies for Reactive Dynamical System Modulation with Non-Convex Obstacles
In this work, we present a novel, reactive, modulated control strategy based on dynamical systems (DS) for planning in the context of multiple non-convex obstacles. Our DS modulation strategy leverages an on-manifold planning methodology and provides several methods for real-time on-manifold navigation around non-convex obstacles. We introduce a sample-based obstacle representation for complex, non-convex obstacles, as well as a projection-based method for representing surfaces such as tables, cylinders, and ellipsoids. These representations can be combined to represent multiple obstacles and obstacle types (sample- or projection-based) with a single, continuously differentiable function. We validate our approach in several real-world scenarios, including navigation within (simulated) constrained environments, as well as reactive control of a real 7DoF manipulator with dynamic obstacles (including humans) while utilizing a 1 kHz control loop rate. Using our sample-based representation, we can calculate the obstacle representation function in less than 1 ms with up to 35k points using a CPU implementation, and up to 600k points with a GPU
implementation.
Authors: Christopher K Fourie, Nadia Figueroa, Julie Shah
implementation.
Authors: Christopher K Fourie, Nadia Figueroa, Julie Shah
Переглядів: 82
Відео
Monocular Vision Assisted Robotic Arm
Переглядів 548 років тому
Undergraduate Thesis Project at the University of Cape Town The project involved the development of the inverse kinematic algorithms and monocular vision based control system to locate and pick up a known object. The arm is constructed of four servo links. The arm is slightly under-actuated at it's base resulting in the need for a bit of "assistance" in returning to it's neutral position. The a...
Autonomous Helicopter Landing on a Moving Platform (Platform Camera)
Переглядів 1588 років тому
Electronic Systems Laboratory, Stellenbosch University, South Africa This video shows the autonomous landing of an unmanned helicopter on a moving platform. The platform in this video moves at 12 kph. All tests were performed using integrated hardware on the helicopter. External inputs only included state transition commands (land, hover, move to position etc.). The helicopter is an X-Cell .90 ...
Autonomous Helicopter Landing on a Moving Platform (Side Camera)
Переглядів 1878 років тому
Electronic Systems Laboratory, Stellenbosch University, South Africa This video shows the autonomous landing of an unmanned helicopter on a moving platform. The platform in this video moves at 12 kph. All tests were performed using integrated hardware on the helicopter. External inputs only included state transition commands (land, hover, move to position etc.). The helicopter is an X-Cell .90 ...
Initial Testing of an Autonomous Helicopter Landing Algorithm
Переглядів 748 років тому
Electronic Systems Laboratory, Stellenbosch University, South Africa The first part of the video show's basic envelope testing (large position step, max velocity of 4m/s). The second part shows fully autonomous landings on a stationary platform in mild wind conditions. All tests were performed using integrated hardware on the helicopter. External inputs only included state transition commands (...