Avoiding local minima in the potential field method using input-to-state stability |
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| Affiliation: | 1. DCSD - ONERA Centre de Toulouse, 2 Avenue Edouard Belin, 31000 Toulouse, France;2. Non-A team @ Inria, Parc Scientifique de la Haute Borne, 40 avenue Halley, 59650 Villeneuve d''Ascq, France;3. CRIStAL UMR CNRS 9189, Ecole Centrale de Lille, 59650 Villeneuve d''Ascq, France;1. German Aerospace Center (DLR), Oberpfaffenhofen, Germany;2. AIRBUS Flight Control Systems, Toulouse, France;3. DEIMOS-SPACE S.L.U., Madrid, Spain (now with the University of Bristol);1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany |
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| Abstract: | Supported by a novel field definition and recent control theory results, a new method to avoid local minima is proposed. It is formally shown that the system has an attracting equilibrium at the target point, repelling equilibriums in the obstacle centers and saddle points on the borders. Those unstable equilibriums are avoided capitalizing on the established Input-to-State Stability (ISS) property of this multistable system. The proposed modification of the PF method is shown to be effective by simulation for a two variable integrator and then applied to a unicycle-like wheeled mobile robots which is subject to additive input disturbances. |
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| Keywords: | Potential field Autonomous vehicles Non-linear control Robotics |
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