Search: WFRF:(Dimarogonas Dimos V.) >
Obstacle Avoidance ...
Obstacle Avoidance via Hybrid Feedback
-
- Berkane, Soulaimane (author)
- Univ Quebec Outaouais, Dept Comp Sci & Engn, Gatineau, PQ J8X 3X7, Canada.
-
- Bisoffi, Andrea (author)
- Univ Groningen, ENTEG, NL-9747 AG Groningen, Netherlands.;Univ Groningen, JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands.
-
- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik
-
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
- English.
-
In: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 67:1, s. 512-519
- Related links:
-
https://urn.kb.se/re...
-
show more...
-
https://doi.org/10.1...
-
show less...
Abstract
Subject headings
Close
- 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
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Asymptotic stability
- autonomous vehicles
- control design
- collision avoidance
- motion control
- nonlinear control systems
- Lyapunov methods
Publication and Content Type
- ref (subject category)
- art (subject category)
Find in a library
To the university's database