Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order Uncertain Dynamics
Robotics
2020-05-27 v1 Systems and Control
Systems and Control
Abstract
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control techniques to guarantee the collision-free robot navigation to a predefined goal while compensating for the dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend our results to arbitrary star-shaped environments by using previous results on configuration space transformations. Moreover, we propose an algorithm for extending the control scheme to decentralized multi-robot systems. Finally, extensive simulation results verify the theoretical findings.
Keywords
Cite
@article{arxiv.2005.12599,
title = {Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order Uncertain Dynamics},
author = {Christos K. Verginis and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:2005.12599},
year = {2020}
}