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

• Published in: Automatica (Oxford) Vol. 123; p. 109303
• Main Authors: Verginis, Christos K., Dimarogonas, Dimos V.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.01.2021
• Subjects: Adaptive control; Obstacle avoidance; Robot navigation; Uncertain dynamics; Uncertain dynamics; Robot navigation; Obstacle avoidance; Adaptive control

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...