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Obstacle avoidance for an extremum seeking system using a navigation function
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
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2013 (English)In: Proceedings of the American Control Conference 2013, AACC American Automatic Control Council , 2013, 4062-4067 p.Conference paper (Refereed)
Abstract [en]

The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.

Place, publisher, year, edition, pages
AACC American Automatic Control Council , 2013. 4062-4067 p.
, Proceedings of the American Control Conference, ISSN 0743-1619
Keyword [en]
Avoiding obstacle, Control laws, Destination points, Extremum seeking, Extremum seeking algorithm, Initial conditions, Navigation functions, Uniform convergence, Control, Control theory
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-133379ScopusID: 2-s2.0-84883506825ISBN: 978-147990177-7OAI: diva2:662006
2013 1st American Control Conference, ACC 2013; Washington, DC; United States; 17 June 2013 through 19 June 2013

QC 20131105

Available from: 2013-11-05 Created: 2013-10-31 Last updated: 2013-11-05Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik
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