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Communication Dans Un Congrès Année : 2021

Augmented obstacle avoidance controller design for mobile robots

Résumé

For unicycle robots and an arbitrary continuous reference tracking controller, wepropose a control augmentation providing obstacle avoidance properties. The avoidance controllaw is activated in an eye-shaped neighborhood around an obstacle and guarantees that aspecified domain around the obstacle is not entered. Switching between different control lawsis orchestrated through a hybrid systems framework and Zeno behavior is avoided throughappropriate hysteresis regions. Since the size of the eye-shaped neighborhood and its orientationdepend continuously on the orientation and velocity of the robot, it can be guaranteed that thevelocity input of the overall control law is continuous. Numerical simulations are provided toillustrate the performance of the tracking controller endowed with the avoidance augmentation.
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Dates et versions

hal-03110909 , version 1 (14-01-2021)

Identifiants

  • HAL Id : hal-03110909 , version 1

Citer

Philipp Braun, Luca Zaccarian. Augmented obstacle avoidance controller design for mobile robots. 7th IFAC Conference on Analysis and Design of Hybrid Systems, Jul 2021, Brussels, Belgium. ⟨hal-03110909⟩
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