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Motion planning problem with obstacle avoidance for step‐2 bracket‐generating systems
Author(s) -
Grushkovskaya Victoria,
Zuyev Alexander
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710367
Subject(s) - obstacle , obstacle avoidance , bracket , collision avoidance , control theory (sociology) , motion planning , state (computer science) , motion (physics) , control (management) , motion control , mathematics , computer science , mathematical optimization , collision , algorithm , engineering , artificial intelligence , mobile robot , robot , computer security , political science , law , mechanical engineering
This paper considers the obstacle avoidance problem for control‐linear systems satisfying the Hörmander condition with the first‐order Lie brackets. To solve the problem under consideration, we use a family of oscillating periodic control functions with state‐dependent coefficients. The proposed approach is shown to be applicable for different shapes of obstacles and various potential functions generating collision‐free paths. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)