Hybrid control of a constrained velocity unicycle with local sensing

— This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Apollo S. Oikonomopoulos, Savvas G. Loizou, Kostas J. Kyriakopoulos
• Keywords: CDC 2008, Control Systems, Hybrid Control Scheme, Limited Sensing, Limited Sensing Capabilities