2024/03/13 by Lyes Smaili, Smaili, Lyes, Soulaimane Berkane +1 · 1 citation
Computer Science · Engineering · #Aerospace and Aviation Technology #FOS: Electrical engineering #Real-time simulation and control systems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.08614
openalex publication_date 2024/03/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We revisit the Safety Velocity Cones (SVCs) obstacle avoidance approach for real-time autonomous navigation in an unknown n-dimensional environment. We propose a locally Lipschitz continuous implementation of the SVC controller using the distance-to-the-obstacle function and its gradient. We then show that the proposed implementation guarantees safe navigation in generic environments and almost globally asymptotic stability (AGAS) of the desired destination when the workspace contains strongly convex obstacles. The proposed computationally efficient control algorithm can be implemented onboard vehicles equipped with limited range sensors (e.g., LiDAR, depth camera), allowing the controller to be locally evaluated without requiring prior knowledge of the environment.