Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
Year: 2020
Type: preprint
Abstract: This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization to determine ellipsoid output bounds on the closed-loop robot trajectory under stabilizing control. A virtual governor system is developed to adaptively track a desired navigation path, while relying on the robot trajectory bounds to slow down if safety is endangered and speed up otherwise. The main contribution is the derivation of theoretical guarantees for safe nonlinear system path-following control and its application to autonomous robot navigation in unknown environments.
Source: arXiv (Cornell University)
Authors: Li, Zhichao, Duong, Thai, Atanasov, Nikolay
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3024313665