Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics
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Publication:2662265
Abstract: This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control techniques to guarantee the collision-free robot navigation to a predefined goal while compensating for the dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend our results to arbitrary star-shaped environments by using previous results on configuration space transformations. Moreover, we propose an algorithm for extending the control scheme to decentralized multi-robot systems. Finally, extensive simulation results verify the theoretical findings.
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Cited in
(12)- Collision avoidance for mobile robots with limited sensing and limited information about moving obstacles
- Sampling-based motion planning for uncertain high-dimensional systems via adaptive control
- Navigation of carlike robots in an extended dynamic environment with swarm avoidance
- scientific article; zbMATH DE number 1872133 (Why is no real title available?)
- Cooperative, dynamics-based, and abstraction-guided multi-robot motion planning
- Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments
- Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots
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