Stability Analysis of a Null Space Behavioral Controller for Obstacle Avoidance
Manuele Cellini, Lorenzo Pollini, Mario Innocenti · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2008
[Abstract] The paper presents a stability analysis of an obstacle avoidance algorithm based on a null space behavioral control method. A Phase Function is proposed, which uses a graphical method for determining equilibrium points, and their stability characteristics. The method also provides rules that help the development of the supervisor in building a set of tasks sequences and in finding the areas where these sequences can be applied. The validation of the procedure in done via numerical simulation, and a critical analysis of the results is performed. Nomenclature p = vehicle position g p = goal position ox p = obstacle x position tx v = task x velocity x J = task x Jacobian matrix x Λ = task x gain x