For unicycle robots and an arbitrary continuous reference tracking controller, we propose a mildly invasive obstacle avoidance augmentation only activated in an eye-shaped neighborhood around an obstacle and providing avoidance guarantees. Switching between different control phases is orchestrated by a hybrid automaton with hysteresis mechanisms that prevent Zeno behavior. Since the size of the eye-shaped neighborhood and its orientation depend continuously on the orientation and velocity of the robot, the velocity control input is continuous. Numerical simulations illustrate the performance of an avoidance-augmented tracking controller.

Augmented obstacle avoidance controller design for mobile robots / Braun, P.; Zaccarian, L.. - 54:5(2021), pp. 157-162. (Intervento presentato al convegno 7th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2021 tenutosi a Brussels, Belgium nel 2021) [10.1016/j.ifacol.2021.08.491].

Augmented obstacle avoidance controller design for mobile robots

Zaccarian L.
2021-01-01

Abstract

For unicycle robots and an arbitrary continuous reference tracking controller, we propose a mildly invasive obstacle avoidance augmentation only activated in an eye-shaped neighborhood around an obstacle and providing avoidance guarantees. Switching between different control phases is orchestrated by a hybrid automaton with hysteresis mechanisms that prevent Zeno behavior. Since the size of the eye-shaped neighborhood and its orientation depend continuously on the orientation and velocity of the robot, the velocity control input is continuous. Numerical simulations illustrate the performance of an avoidance-augmented tracking controller.
2021
IFAC-PapersOnLine
RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS
Elsevier B.V.
Braun, P.; Zaccarian, L.
Augmented obstacle avoidance controller design for mobile robots / Braun, P.; Zaccarian, L.. - 54:5(2021), pp. 157-162. (Intervento presentato al convegno 7th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2021 tenutosi a Brussels, Belgium nel 2021) [10.1016/j.ifacol.2021.08.491].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/336240
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