A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles

Authors:
Antonio Sgorbissa;Alessandro Villa;Andrea Vargiu;Renato Zaccaria
Affiliations:
DIST, Department of Communication, Computer and System Sciences, University of Genoa, Genoa, Italy;DIST, Department of Communication, Computer and System Sciences, University of Genoa, Genoa, Italy;DIST, Department of Communication, Computer and System Sciences, University of Genoa, Genoa, Italy;DIST, Department of Communication, Computer and System Sciences, University of Genoa, Genoa, Italy
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

The article proposes a feedback control system for real-time navigation and obstacle avoidance that 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. In spite of this, it is formally demonstrated to be asymptotically stable, as well as computationally efficient to be implemented in real-world scenarios where obstacles are not known, and possibly move in the environment.