TY - GEN
T1 - Hybrid control of a constrained velocity unicycle with local sensing
AU - Oikonomopoulos, Apollon S.
AU - Loizou, Savvas G.
AU - Kyriakopoulos, Kostas J.
PY - 2008
Y1 - 2008
N2 - This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations.
AB - This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations.
UR - http://www.scopus.com/inward/record.url?scp=62949192962&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2008.4738994
DO - 10.1109/CDC.2008.4738994
M3 - Conference contribution
AN - SCOPUS:62949192962
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1753
EP - 1758
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -