Reactive behaviours of mobile manipulators based on the DVZ approach

A. Cacitti, R. Zapata
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
This paper addresses the problem of reactive behaviours of mobile manipulators evolving in dynamic and unknown environments. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and the extension to mobile manipulators is detailed. This approach allows to implement fast control laws and can be seen as an efficient low level algorithm for controlling motions to avoid unscheduled obstacles
more » ... ions. Simulation results are discussed, showing the effectiveness of the proposed method.
doi:10.1109/robot.2001.932629 dblp:conf/icra/CacittiZ01 fatcat:qv4hynrm5jhk5k7e6jom3d64me