Motion planning problem with obstacle avoidance for step‐2 bracket‐generating systems
This paper considers the obstacle avoidance problem for control‐linear systems satisfying the Hörmander condition with the first‐order Lie brackets. To solve the problem under consideration, we use a family of oscillating periodic control functions with state‐dependent coefficients. The proposed app...
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Published in | Proceedings in applied mathematics and mechanics Vol. 17; no. 1; pp. 799 - 800 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Berlin
WILEY‐VCH Verlag
01.12.2017
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Online Access | Get full text |
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Summary: | This paper considers the obstacle avoidance problem for control‐linear systems satisfying the Hörmander condition with the first‐order Lie brackets. To solve the problem under consideration, we use a family of oscillating periodic control functions with state‐dependent coefficients. The proposed approach is shown to be applicable for different shapes of obstacles and various potential functions generating collision‐free paths. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim) |
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ISSN: | 1617-7061 1617-7061 |
DOI: | 10.1002/pamm.201710367 |