kth.sePublications KTH
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Obstacle Avoidance via Hybrid Feedback
Univ Quebec Outaouais, Dept Comp Sci & Engn, Gatineau, PQ J8X 3X7, Canada..
Univ Groningen, ENTEG, NL-9747 AG Groningen, Netherlands.;Univ Groningen, JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2022 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 67, no 1, p. 512-519Article in journal (Refereed) Published
Abstract [en]

In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022. Vol. 67, no 1, p. 512-519
Keywords [en]
Asymptotic stability, autonomous vehicles, control design, collision avoidance, motion control, nonlinear control systems, Lyapunov methods
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-307312DOI: 10.1109/TAC.2021.3086329ISI: 000735567400050Scopus ID: 2-s2.0-85107345189OAI: oai:DiVA.org:kth-307312DiVA, id: diva2:1630466
Note

QC 20220120

Available from: 2022-01-20 Created: 2022-01-20 Last updated: 2022-06-25Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Dimarogonas, Dimos V.

Search in DiVA

By author/editor
Dimarogonas, Dimos V.
By organisation
Decision and Control Systems (Automatic Control)
In the same journal
IEEE Transactions on Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 81 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf