Obstacle Avoidance via Hybrid Feedback
نویسندگان
چکیده
In this article, we present a hybrid feedback approach to solve the navigation problem in $n$ -dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization target position and avoidance controller, exploiting hysteresis regions, employs Zeno-free switching between two modes control: avoidance. Simulation results illustrate performance for 2-D 3-D scenarios.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2021
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2021.3086329