Navigation Functions With Time-Varying Destination Manifolds in Star Worlds
Caili Li, Herbert G. Tanner · IEEE Transactions on Robotics · 2018
This paper formally constructs navigation functions with time-varying destinations on star worlds. The construction is based on appropriate diffeomorphic transformations and extends an earlier sphere-world formulation. A new obstacle modeling method is also introduced, reducing analytical complexity and offering unified expressions of common classes of n-dimensional obstacles. The method allows for dynamic target tracking and is validated through simulations and experiments.