Navigation Functions for Convex Potentials in a Space With Convex Obstacles

DOI10.1109/TAC.2017.2775046MaRDI QIDQ4682354zbMATH OpenOpenAlexFDO

Authors Santiago Paternain, D. E. Koditschek, Alejandro Ribeiro

Publication date 18 September 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1605.00638

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Abstract: Given a convex potential in a space with convex obstacles, an artificial potential is used to navigate to the minimum of the natural potential while avoiding collisions. The artificial potential combines the natural potential with potentials that repel the agent from the border of the obstacles. This is a popular approach to navigation problems because it can be implemented with spatially local information that is acquired during operation time. Artificial potentials can, however, have local minima that prevent navigation to the minimum of the natural potential. This paper derives conditions that guarantee artificial potentials have a single minimum that is arbitrarily close to the minimum of the natural potential. The qualitative implication is that artificial potentials succeed when either the condition number-- the ratio of the maximum over the minimum eigenvalue-- of the Hessian of the natural potential is not large and the obstacles are not too flat or when the destination is not close to the border of an obstacle. Numerical analyses explore the practical value of these theoretical conclusions.

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Cited in

(5)

• Navigation of a quadratic potential with ellipsoidal obstacles
• Online optimization of LTI systems under persistent attacks: stability, tracking, and robustness
• Adaptive robot navigation with collision avoidance subject to \(2\)nd-order uncertain dynamics
• Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles
• Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles

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