TY - GEN
T1 - Integrated Path Following and Collision Avoidance Using a Composite Vector Field
AU - Yao, Weijia
AU - Lin, Bohuan
AU - Cao, Ming
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.
AB - Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.
UR - http://www.scopus.com/inward/record.url?scp=85082458821&partnerID=8YFLogxK
U2 - 10.1109/CDC40024.2019.9029203
DO - 10.1109/CDC40024.2019.9029203
M3 - Conference Proceeding
AN - SCOPUS:85082458821
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 250
EP - 255
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -