Obstacle Avoidance via Hybrid Feedback
Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas · IEEE Transactions on Automatic Control · 2021
In this article, we present a hybrid feedback approach to solve the navigation problem in the$n$-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.