Saddle point detection of the navigation function in nonholonomic mobile robot control
Wojciech Kowalczyk, Mateusz Przybyła, Krzysztof R. Kozlowski · 2016
This paper presents navigation function saddle point detection and avoidance for a unicycle robot in sphere worlds. The detection is based on the gradient and Hessian analysis. The avoidance algorithm was numerically tested for two scenarios and various values of the parameter connected with the sensitivity of the saddle point detection.