Motion Planning in Topologically Complex Environments via Hybrid Feedback
George S. Kanakis, George A. Rovithakis · IEEE Transactions on Automatic Control · 2024
In this article we consider the motion planning problem in ann-dimensional Euclidean space,$n \geq 2$, containing finitely many obstacles with boundaries possessing a smooth structure. Obstacle boundaries are assumed to be compact and connected embedded submanifolds of the ambient Euclidean space of codimension 1. The proposed solution guarantees both global asymptotic stability of a target configuration and avoidance of the obstacles. The controller is based on a switching scheme between two modes of operation: 1) a free space mode; and 2) an avoidance mode. A simulation study illustrates and clarifies the theoretical results in a 3-D workspace.