文章基本信息

标题：Augmented obstacle avoidance controller design for mobile robots ⁎
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作者：Philipp Braun ; Luca Zaccarian
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：5
页码：157-162
DOI：10.1016/j.ifacol.2021.08.491
语种：English
出版社：Elsevier
摘要：AbstractFor unicycle robots and an arbitrary continuous reference tracking controller, we propose a mildly invasive obstacle avoidance augmentation only activated in an eye-shaped neighborhood around an obstacle and providing avoidance guarantees. Switching between different control phases is orchestrated by a hybrid automaton with hysteresis mechanisms that prevent Zeno behavior. Since the size of the eye-shaped neighborhood and its orientation depend continuously on the orientation and velocity of the robot, the velocity control input is continuous. Numerical simulations illustrate the performance of an avoidance-augmented tracking controller.
关键词：Keywordsobstacle avoidancereference trackingcontroller design for hybrid systems