TY - JOUR
T1 - Obstacle Avoidance via Hybrid Feedback
AU - Berkane, Soulaimane
AU - Bisoffi, Andrea
AU - Dimarogonas, Dimos V.
N1 - Publisher Copyright:
© 1963-2012 IEEE.
PY - 2022/1/1
Y1 - 2022/1/1
N2 - In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.
AB - In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.
UR - https://arxiv.org/pdf/2102.02883.pdf
U2 - 10.1109/TAC.2021.3086329
DO - 10.1109/TAC.2021.3086329
M3 - Article
SN - 2334-3303
VL - 67
SP - 512
EP - 519
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 1
ER -