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Guiding Vector Fields for Following Occluded Paths
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DOI：10.1109/TAC.2022.3179215.png)
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摘要
En 中文
Accurately following a geometric desired path in a two-dimensional (2-D) space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to temporarily deviate from the path for obstacle/collision avoidance. In this article, we develop a composite guiding vector field via the use of smooth bump functions and provide theoretical guarantees that the integral curves of the vector field can follow an arbitrary sufficiently smooth desired path and avoid collision with obstacles of arbitrary shapes. These two behaviors are reactive since path (re)planning and global map construction are not involved. To deal with the common deadlock problem, we introduce a switching vector field, and the Zeno behavior is excluded. Simulations are conducted to support the theoretical results.
Keyword:
Switches
Trajectory
Robots
Behavioral sciences
Aerospace electronics
Shape
Collision avoidance
Collision avoidance
motion control
mobile robots
nonlinear control systems
path following
期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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