2023/08/25 by Ishak Cheniouni, Cheniouni, Ishak, Soulaimane Berkane +3 · 1 citation
Computer Science · Engineering · #FOS: Electrical engineering #Optimization and Search Problems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #Vehicle Routing Optimization Methods #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2308.13425
openalex publication_date 2023/08/25 · openalex created_date 2023/08/29 · openalex updated_date 2026/07/28
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's surface enclosing the obstacle and moving straight toward the target when the vehicle has a clear line of sight to the target location. In particular, almost global asymptotic stability of the target location is achieved in two-dimensional (2D) environments under a particular assumption on the obstacles configuration. We also propose a reactive (sensor-based) approach, suitable for real-time implementations in a priori unknown 2D environments with sufficiently curved convex obstacles, guaranteeing almost global asymptotic stability of the target location. Simulation results are presented to illustrate the effectiveness of the proposed approach.