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

Abstract This paper considers the problem of robot motion planning in a workspace with obstacles for systems uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers adaptive control techniques to guarantee collision-free navigation predefined goal while compensating dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend results arbitrary star-shaped environments by using previous space transformations. Moreover, propose an algorithm extending scheme decentralized multi-robot systems. Finally, extensive simulation verify theoretical findings.