Robot Navigation Based on Control Synthesis of Piecewise Affine Hybrid Systems
英文摘要
Control synthesis and reachability analysis of the piecewise affine hybrid systems on simplices were applied for safely steering a robot from a given position to a final position with consideration of optimality. Based on the triangulation of the state space of a robot, a dual graph was constructed following the target attractive principle, and then a path planning algorithm was presented to find a sequence of adjacent triangles that were traversed by the shortest path. According to the characteristics of affine systems on simplices, a motion planning algorithm was proposed to determine the translational and rotational velocities for a robot. The simulation results demonstrate the effectiveness of the algorithms.
