Automatic Generation of Control Lyapunov Functions for Vehicle Guidance on Complex Paths
Yuh Yamashita, Wataru Hashimoto, Koichi Kobayashi · IFAC-PapersOnLine · 2023
In this paper, we propose a new method to construct systematically a control Lyapunov function (CLF) for vehicle guidance and obstacle avoidance. The obtained CLF is expressed by some parameters, and the exact values of the CLF and its gradient can be computed online. The rough route of the vehicle to the goal point is designed by a directed acyclic graph (DAG). The asymptotic stability of the controller based on the designed CLF is mathematically guaranteed. The method can be applied to cases with obstacles having complex shapes. By modifying the DAG and some values, we can change the rough route of the vehicle as well as the goal point.