2022/05/25 by Weijia Yao, Bohuan Lin, Yao, Weijia +5 · 1 citation
Computer Science · Engineering · #Computational Geometry and Mesh Generation #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2205.12760
openalex publication_date 2022/05/25 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to temporarily deviate from the path for obstacle/collision avoidance. In this paper, we develop a composite guiding vector field via the use of smooth bump functions, and provide theoretical guarantees that the integral curves of the vector field can follow an arbitrary sufficiently smooth desired path and avoid collision with obstacles of arbitrary shapes. These two behaviors are reactive since path (re)-planning and global map construction are not involved. To deal with the common deadlock problem, we introduce a switching vector field, and the Zeno behavior is excluded. Simulations are conducted to support the theoretical results.