Publication

Integrated Path Following and Collision Avoidance Using a Composite Vector Field

Yao, W., Lin, B. & Cao, M., 12-Mar-2020, Proceedings of the 58th IEEE Conference on Decision and Control . IEEE, p. 250-255

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DOI

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 publicationProceedings of the 58th IEEE Conference on Decision and Control
PublisherIEEE
Pages250-255
ISBN (Print)978-1-7281-1398-2
Publication statusPublished - 12-Mar-2020
Event58th Conference on Decision and Control (CDC2019) - Nice, France
Duration: 11-Dec-201913-Dec-2019

Conference

Conference58th Conference on Decision and Control (CDC2019)
CountryFrance
CityNice
Period11/12/201913/12/2019

Event

58th Conference on Decision and Control (CDC2019)

11/12/201913/12/2019

Nice, France

Event: Conference

ID: 109250277