Prescribed Time Scale Robot Navigation
Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Abstract
In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood of any desired configuration within a predetermined time span, and at the same time prevents any collisions with the obstacles and the workspace boundary along the way. The introduction of a novel vector field allows us to establish the safety of the system and simultaneously apply the prescribed performance control technique to guarantee any predefined transient behavior. Subsequently, we leverage well-established transformations to apply the proposed scheme to the far more practical class of generalized sphere worlds. Finally, we validate the theoretical findings via a numerical simulation.
BibTeX
@inproceedings{ral2018_prescribedtimesc,
title = {Prescribed Time Scale Robot Navigation},
author = {Constantinos Vrohidis and Panagiotis Vlantis and Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos},
booktitle = {RA-L 2018},
year = {2018}
}