2023/02/23 by shak Cheniouni, Cheniouni, Ishak, Abdelhamid Tayebi +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #Guidance and Control Systems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2302.12309
openalex publication_date 2023/02/23 · openalex created_date 2023/03/01 · openalex updated_date 2026/07/28
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical obstacles. The main idea consists in avoiding each obstacle via the shortest path within the cone enclosing the obstacle, and moving straight towards the target when the vehicle has a clear line of sight to the target location. The proposed control strategy ensures safe navigation with almost global asymptotic stability of the equilibrium point at the target location. Simulation results, illustrating the effectiveness of the proposed approach, are presented.