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.
|Title of host publication
|Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2008
|47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: Dec 9 2008 → Dec 11 2008
|Proceedings of the IEEE Conference on Decision and Control
|47th IEEE Conference on Decision and Control, CDC 2008
|12/9/08 → 12/11/08
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization