2024/03/17 by Mayur Sawant, Sawant, Mayur, Ilia G. Polushin +3 · 1 citation
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Guidance and Control Systems #Robotics (cs.RO) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.11279
openalex publication_date 2024/03/17 · openalex created_date 2024/03/20 · openalex updated_date 2026/08/01
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's diameter. We propose a hybrid feedback control scheme that guarantees safe and global asymptotic convergence of the robot to a predefined target location. The proposed control strategy relies on a switching mechanism allowing the robot to operate either in the move-to-target mode or the obstacle-avoidance mode, based on its proximity to the obstacles and the availability of a clear straight path between the robot and the target. In the obstacle-avoidance mode, the robot is constrained to move within a two-dimensional plane that intersects the obstacle being avoided and the target, preventing it from retracing its path. The effectiveness of the proposed hybrid feedback controller is demonstrated through simulations in two-dimensional and three-dimensional environments.