297,107 research outputs found
Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces
Navigation functions provide both path and motion planning, which can be used
to ensure obstacle avoidance and convergence in the sphere world. When dealing
with complex and realistic scenarios, constructing a transformation to the
sphere world is essential and, at the same time, challenging. This work
proposes a novel transformation termed the conformal navigation transformation
to achieve collision-free navigation of a robot in a workspace populated with
obstacles of arbitrary shapes. The properties of the conformal navigation
transformation, including uniqueness, invariance of navigation properties, and
no angular deformation, are investigated, which contribute to the solution of
the robot navigation problem in complex environments. Based on navigation
functions and the proposed transformation, feedback controllers are derived for
the automatic guidance and motion control of kinematic and dynamic mobile
robots. Moreover, an iterative method is proposed to construct the conformal
navigation transformation in a multiply-connected workspace, which transforms
the multiply-connected problem into multiple simply-connected problems to
achieve fast convergence. In addition to the analytic guarantees, simulation
studies verify the effectiveness of the proposed methodology in workspaces with
non-trivial obstacles
Exact Robot Navigation Using Artificial Potential Functions
We present a new methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design. Complete information about the freespace and goal is encoded in the form of a special artificial potential function - a navigation function - that connects the kinematic planning problem with the dynamic execution problem in a provably correct fashion. The navigation function automatically gives rise to a bounded-torque feedback controller for the robot\u27s actuators that guarantees collision-free motion and convergence to the destination from almost all initial free configurations. Since navigation functions exist for any robot and obstacle course, our methodology is completely general in principle. However, this paper is mainly concerned with certain constructive techniques for a particular class of motion planning problems. Specifically, we present a formula for navigation functions that guide a point-mass robot in a generalized sphere world. The simplest member of this family is a space obtained by puncturing a disc by an arbitrary number of smaller disjoint discs representing obstacles. The other spaces are obtained from this model by a suitable coordinate transformation that we show how to build. Our constructions exploit these coordinate transformations to adapt a navigation function on the model space to its more geometrically complicated (but topologically equivalent) instances. The formula that we present admits sphere-worlds of arbitrary dimension and is directly applicable to configuration spaces whose forbidden regions can be modeled by such generalized discs. We have implemented these navigation functions on planar scenarios, and simulation results are provided throughout the paper
Control of Homodirectional and General Heterodirectional Linear Coupled Hyperbolic PDEs
Research on stabilization of coupled hyperbolic PDEs has been dominated by
the focus on pairs of counter-convecting ("heterodirectional") transport PDEs
with distributed local coupling and with controls at one or both boundaries. A
recent extension allows stabilization using only one control for a system
containing an arbitrary number of coupled transport PDEs that convect at
different speeds against the direction of the PDE whose boundary is actuated.
In this paper we present a solution to the fully general case, in which the
number of PDEs in either direction is arbitrary, and where actuation is applied
on only one boundary (to all the PDEs that convect downstream from that
boundary). To solve this general problem, we solve, as a special case, the
problem of control of coupled "homodirectional" hyperbolic linear PDEs, where
multiple transport PDEs convect in the same direction with arbitrary local
coupling. Our approach is based on PDE backstepping and yields solutions to
stabilization, by both full-state and observer-based output feedback,
trajectory planning, and trajectory tracking problems
Flat systems, equivalence and trajectory generation
Flat systems, an important subclass of nonlinear control systems introduced
via differential-algebraic methods, are defined in a differential
geometric framework. We utilize the infinite dimensional geometry developed
by Vinogradov and coworkers: a control system is a diffiety, or more
precisely, an ordinary diffiety, i.e. a smooth infinite-dimensional manifold
equipped with a privileged vector field. After recalling the definition of
a Lie-Backlund mapping, we say that two systems are equivalent if they
are related by a Lie-Backlund isomorphism. Flat systems are those systems
which are equivalent to a controllable linear one. The interest of
such an abstract setting relies mainly on the fact that the above system
equivalence is interpreted in terms of endogenous dynamic feedback. The
presentation is as elementary as possible and illustrated by the VTOL
aircraft
Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus
We propose in this paper a constructive procedure that transforms locally,
even at singular configurations, the kinematics of a car towing trailers into
Kumpera-Ruiz normal form. This construction converts the nonholonomic motion
planning problem into an algebraic problem (the resolution of a system of
polynomial equations), which we illustrate by steering the two-trailer system
in a neighborhood of singular configurations. We show also that the n-trailer
system is a universal local model for all Goursat structures and that all
Goursat structures are locally nilpotentizable.Comment: LaTeX2e, 23 pages, 4 figures, submitted to International journal of
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