Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization
| Authors: | Boccadoro Mauro, University of Perugia, Italy
Egerstedt Magnus, Georgia Institute of Technology, United States
Wardi Yorai, Georgia Institute of Technology, United States |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Mobile Robots III |
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| Keywords: | Optimal Control, Hybrid Systems, Switching Surfaces, Gradient Descent Algorithms, Mobile Robot Navigation |
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Abstract
This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the robot at different locations in the state space. The specification of the optimal discrete event dynamics is pursued through the design of optimal, parametrized switching surfaces, using results on switching surface optimization.
