Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles

DOI10.1016/J.SYSCONLE.2020.104772zbMath1454.93193OpenAlexW3083690312MaRDI QIDQ826756

Hamed Farivarnejad, Spring Berman

Publication date: 6 January 2021

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2020.104772

zbMATH Keywords

obstacle avoidanceswitching control systemvirtual potential field

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (2)

Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles ⋮ A problem of formation control on a line segment under protocols with communication delay

Cites Work

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• Stochastic Source Seeking for Mobile Robots in Obstacle Environments Via the SPSA Method
• A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates
• Planning Algorithms

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