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Obstacle avoidance ...
Obstacle avoidance for an extremum seeking system using a navigation function
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Durr, H. -B (författare)
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Stankovic, M. S. (författare)
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik
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Ebenbauer, C. (författare)
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- Johansson, Karl Henrik (författare)
- KTH,Reglerteknik
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(creator_code:org_t)
- AACC American Automatic Control Council, 2013
- 2013
- Engelska.
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Ingår i: Proceedings of the American Control Conference 2013. - : AACC American Automatic Control Council. - 9781479901777 ; , s. 4062-4067
- Relaterad länk:
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http://people.kth.se...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.
Nyckelord
- Avoiding obstacle
- Control laws
- Destination points
- Extremum seeking
- Extremum seeking algorithm
- Initial conditions
- Navigation functions
- Uniform convergence
- Control
- Control theory
Publikations- och innehållstyp
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- kon (ämneskategori)
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