A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean Space

Abstract

For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between the stabilization and avoidance modes. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

8 pages, 3 figures, conference

References in corpus (2)

• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean Space

Cited by in corpus (3)

• Obstacle Avoidance via Hybrid Feedback
• Satisfaction of linear temporal logic specifications through recurrence tools for hybrid systems
• A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean Space