Obstacle avoidance for an extremum seeking system using a navigation function

• 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

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ref (ämneskategori)

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