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- Berkane, SoulaimaneUniv Quebec Outaouais, Dept Comp Sci & Engn, Gatineau, PQ J8X 3X7, Canada. (author)
Obstacle Avoidance via Hybrid Feedback
- Article/chapterEnglish2022
Publisher, publication year, extent ...
- Institute of Electrical and Electronics Engineers (IEEE),2022
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:kth-307312
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-307312URI
- https://doi.org/10.1109/TAC.2021.3086329DOI
Supplementary language notes
- Language:English
- Summary in:English
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- SwePubSwePub
Classification
Notes
- QC 20220120
- 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.
Subject headings and genre
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
- Asymptotic stability
- autonomous vehicles
- control design
- collision avoidance
- motion control
- nonlinear control systems
- Lyapunov methods
Added entries (persons, corporate bodies, meetings, titles ...)
- Bisoffi, AndreaUniv Groningen, ENTEG, NL-9747 AG Groningen, Netherlands.;Univ Groningen, JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands. (author)
- Dimarogonas, Dimos V.KTH,Reglerteknik(Swepub:kth)u1zrhfkn (author)
- 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)
Related titles
- In:IEEE Transactions on Automatic Control: Institute of Electrical and Electronics Engineers (IEEE)67:1, s. 512-5190018-92861558-2523
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