(Georgia Institute of Technology, 2006-12)
Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai Y.
In this paper an optimal solution is presented for
the problem of avoiding obstacles while progressing towards a
goal for a single robot. In particular, the solution is obtained
by allowing the robot to switch between a fixed number of behaviors
and optimizing over what behaviors to use and when to
switch between them. It is moreover shown that the structure
of the switching law only depends on the distance between
the obstacle and the goal. Hence, once initial simulations are
done, a guard can be generated with a fixed structure, and,
given that the robot knows the distance between the obstacle
and the goal, it knows when to switch in order to execute
the pre-computed (optimal) solution. Therefore the solution
lends itself nicely to real-time implementations. Experiments
moreover verify that the proposed methods transitions well onto a real robotic platform.
(Georgia Institute of Technology, 2005-06)
Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai Y.
In this paper a solution is presented for the
problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution
is obtained by allowing the robot to switch between a fixed
number of behaviors and optimizing over what behaviors to
use and when to switch between them. We moreover show
that the structure of the switch law only depends on the
distance between the obstacle and the goal. Hence, once initial
simulations are done, the structure of the guard is known to
the robot and, given that the robot knows the distance between
the obstacle and the goal, it knows when to switch to obtain the
optimal solution. Therefore the solution lends itself to real-time
implementations. The feasibility of the approach is verified in
real robotics experiments.