Title :
Obstacle avoidance for an extremum seeking system using a navigation function
Author :
Durr, Hans-Bernd ; Stankovic, Milos S. ; Dimarogonas, Dimos V. ; Ebenbauer, C. ; Johansson, Karl H.
Author_Institution :
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany
Abstract :
The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.
Keywords :
collision avoidance; mobile robots; optimal control; steering systems; autonomous vehicle steering problem; control law; extremum seeking algorithm; navigation function; obstacle avoidance; single-integrator; uniform convergence; Asymptotic stability; Collision avoidance; Convergence; Navigation; Steady-state; Trajectory; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580462