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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Bibliographic Details
Published inProceedings in applied mathematics and mechanics Vol. 17; no. 1; pp. 799 - 800
Main Authors Grushkovskaya, Victoria, Zuyev, Alexander
Format Journal Article
LanguageEnglish
Published Berlin WILEY‐VCH Verlag 01.12.2017
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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)
ISSN:1617-7061
1617-7061
DOI:10.1002/pamm.201710367