Obstacle Avoidance via Hybrid Feedback

• 成果类型: Article
• 署名作者: Berkane, Soulaimane; Bisoffi, Andrea; Dimarogonas, Dimos, V
• 署名单位: University of Quebec; University Quebec Outaouais; University of Groningen; University of Groningen; Royal Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3086329
• 发表日期: 2022
• 页码: 512-519
• 关键词: Asymptotic stability; Autonomous Vehicles; control design; Collision avoidance; Motion control; nonlinear control systems; Lyapunov methods

摘要

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.