Motion Planning in Topologically Complex Environments via Hybrid Feedback

• 成果类型: Article
• 署名作者: Kanakis, George S.; Rovithakis, George A.
• 署名单位: Aristotle University of Thessaloniki
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3516203
• 发表日期: 2025
• 页码: 3742-3754
• 关键词: planning; navigation; Aerospace electronics; vectors; MANIFOLDS; CONVERGENCE; Complexity theory; stars; STANDARDS; switches; Automatic control; Collision avoidance; motion planning; path planning

摘要

In this article we consider the motion planning problem in an n-dimensional Euclidean space, n >= 2, containing finitely many obstacles with boundaries possessing a smooth structure. Obstacle boundaries are assumed to be compact and connected embedded submanifolds of the ambient Euclidean space of codimension 1. The proposed solution guarantees both global asymptotic stability of a target configuration and avoidance of the obstacles. The controller is based on a switching scheme between two modes of operation: 1) a free space mode; and 2) an avoidance mode. A simulation study illustrates and clarifies the theoretical results in a 3-D workspace.