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Obstacle Avoidance ...
Obstacle Avoidance via Hybrid Feedback
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- Berkane, Soulaimane (författare)
- Univ Quebec Outaouais, Dept Comp Sci & Engn, Gatineau, PQ J8X 3X7, Canada.
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- Bisoffi, Andrea (författare)
- Univ Groningen, ENTEG, NL-9747 AG Groningen, Netherlands.;Univ Groningen, JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands.
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik
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Univ Quebec Outaouais, Dept Comp Sci & Engn, Gatineau, PQ J8X 3X7, Canada Univ Groningen, ENTEG, NL-9747 AG Groningen, Netherlands.;Univ Groningen, JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands. (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2022
- 2022
- Engelska.
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Ingår i: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 67:1, s. 512-519
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Asymptotic stability
- autonomous vehicles
- control design
- collision avoidance
- motion control
- nonlinear control systems
- Lyapunov methods
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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