The conversation between human and AI assistant.
What are some obstacle avoidance methods in robot joint space?
Could you explain what each of those methods entails?
Sure, potential field methods involve creating a virtual field around the robot, where the strength of the field is higher near obstacles. This causes the robot to naturally avoid obstacles as it moves through the environment. Geometric methods, on the other hand, involve generating a collision-free trajectory by reasoning about the geometry of the obstacle and the robot's configuration. Finally, optimization-based methods involve generating a trajectory that minimizes a cost function that takes into account things like the distance to obstacles, the robot's velocity, and the smoothness of the trajectory.