Motion planning problem with obstacle avoidance for step‐2 bracket‐generating systems | Zendy

Grushkovskaya Victoria | Zendy; Zuyev Alexander | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Premium

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)

This content is not available in your region!

Continue researching here.

Having issues? You can contact us here

Accelerating Research