Obstacle Avoidance via Hybrid Feedback
Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
Abstract
In this article, we present a hybrid feedback approach to solve the navigation problem in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> -dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.
Topics & Concepts
Obstacle avoidanceController (irrigation)Control theory (sociology)Position (finance)Collision avoidanceComputer scienceControl (management)MathematicsArtificial intelligenceMobile robotRobotFinanceAgronomyCollisionBiologyComputer securityEconomicsRobotic Path Planning AlgorithmsDistributed Control Multi-Agent SystemsControl and Dynamics of Mobile Robots