Bounded Control Mobile Robot Navigation Functions
L. A. Ravina, Elon Rimon, Savvas G. Loizou · 2024
Navigation functions combine geometric path planning and control of mobile robots in the presence of obstacles. This paper extends the theory of mobile robot navi-gation functions by proposing a navigation function feedback control law that ensures safe navigation of a point mass robot under bounded control inputs. Simulations describe the robot state variables navigating under bounded control in planar environments populated by disc obstacles.