Integrated Path Following and Collision Avoidance Using a Composite Vector Field

Weijia Yao, Bohuan Lin, Ming Cao

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

16 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages250-255
Number of pages6
ISBN (Electronic)9781728113982
DOIs
Publication statusPublished - Dec 2019
Externally publishedYes
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
Country/TerritoryFrance
CityNice
Period11/12/1913/12/19

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