The article proposes a feedback control system for path following in presence of obstacles that is an extension of previous work and is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has some unique characteristics, among which it requires very few computational resources as a consequence of its extreme simplicity.
A Minimalist Approach to Path Following among Unknown Obstacles
CAPEZIO, FRANCESCO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2010-01-01
Abstract
The article proposes a feedback control system for path following in presence of obstacles that is an extension of previous work and is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has some unique characteristics, among which it requires very few computational resources as a consequence of its extreme simplicity.
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