Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics. (January 2021)

• Record Type: Journal Article
• Authors: Verginis, Christos K.; Dimarogonas, Dimos V.
• Is Part Of: Automatica. Volume 123(2021)
• Publication Date: 2021-01
• Subjects: Robot navigation -- Obstacle avoidance -- Uncertain dynamics -- Adaptive control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2020.109303
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control techniques to guarantee the collision-free robot navigation to a predefined goal while compensating for the dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend our results to arbitrary star-shaped environments by using previous results on configuration space transformations. Moreover, we propose an algorithm for extending the control scheme to decentralized multi-robot systems. Finally, extensive simulation results verify the theoretical findings.