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Electrical Engineering and Systems Science > Systems and Control

arXiv:2302.12309 (eess)
[Submitted on 23 Feb 2023 (v1), last revised 21 Mar 2023 (this version, v2)]

Title:Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds

Authors:Ishak Cheniouni, Abdelhamid Tayebi, Soulaimane Berkane
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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.
Comments: Extended version of the paper from the American Control Conference ACC 2023
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2302.12309 [eess.SY]
  (or arXiv:2302.12309v2 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2302.12309

Submission history

From: Abdelhamid Tayebi [view email]
[v1] Thu, 23 Feb 2023 20:07:22 UTC (14,515 KB)
[v2] Tue, 21 Mar 2023 22:28:18 UTC (14,515 KB)
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