Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds
(2302.12309)Abstract
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical obstacles. The main idea consists in avoiding each obstacle via the shortest path within the cone enclosing the obstacle, and moving straight towards the target when the vehicle has a clear line of sight to the target location. The proposed control strategy ensures safe navigation with almost global asymptotic stability of the equilibrium point at the target location. Simulation results, illustrating the effectiveness of the proposed approach, are presented.
We're not able to analyze this paper right now due to high demand.
Please check back later (sorry!).
Generate a summary of this paper on our Pro plan:
We ran into a problem analyzing this paper.