A minimalist approach to path following among unknown obstacles
M. Campani, Francesco Capezio, Alessandro U. Rebora, Antonio Sgorbissa, Renato Zaccaria · 2010
The article proposes a feedback control system for path following in presence of obstacles that is an extension of previous work and is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has some unique characteristics, among which it requires very few computational resources as a consequence of its extreme simplicity.