Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics

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 pre...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 123; p. 109303
Main Authors Verginis, Christos K., Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.01.2021
Subjects
Adaptive control
Obstacle avoidance
Robot navigation
Uncertain dynamics
Uncertain dynamics
Robot navigation
Obstacle avoidance
Adaptive control
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Summary: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.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2020.109303