Obstacle Avoidance for an Extremum Seeking System using a Navigation Function

被引：0

作者：

Duerr, Hans-Bernd ^{[1
]}

Stankovic, Milos S.

Dimarogonas, Dimos V.

Ebenbauer, Christian ^{[1
]}

Johansson, Karl Henrik

机构：

[1] Univ Stuttgart, Inst Syst Theory & Automat Control, Stuttgart, Germany

来源：

2013 AMERICAN CONTROL CONFERENCE (ACC) | 2013年

关键词：

STABILITY; STABILIZATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of autonomously steering a vehicle to a destination point, while avoiding obstacles, is considered. The vehicle is modeled as a single-integrator in the plane and it is assumed that the obstacles are unknown a priori. The control law is an extremum seeking algorithm, which steers the vehicle to the minimum of a navigation function. In this framework, obstacle avoidance and practical uniform convergence to a destination point for almost all initial conditions is proven. The theoretic results are illustrated using numerical examples.

引用

页码：4062 / 4067

页数：6

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