Obstacle Avoidance via Hybrid Feedback
Abstract
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees both global asymptotic stabilization to a reference and avoidance of the obstacles. The intuitive idea of the proposed hybrid feedback is to switch between two modes of control: stabilization and avoidance. The geometric construction of the flow and jump sets of the proposed hybrid controller, exploiting hysteresis regions, guarantees Zeno-free switching between the stabilization and the avoidance modes. Simulation results illustrate the performance of the proposed hybrid control approach for 2-dimensional and 3-dimensional scenarios.
Keywords
Cite
@article{arxiv.2102.02883,
title = {Obstacle Avoidance via Hybrid Feedback},
author = {Soulaimane Berkane and Andrea Bisoffi and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:2102.02883},
year = {2021}
}