Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach.
Phani ThontepuBhavya Giri GoswamiNeelaksh SinghShyamsundar P. IShyam Sundar M. GSuresh SundaramVaibhav KatewaShishir Kolathaya.Published in: CoRR (2022)
Keyphrases
- obstacle avoidance
- mobile robot
- autonomous vehicles
- path planning
- collision avoidance
- visually guided
- space exploration
- wheeled mobile robots
- robot control
- trajectory planning
- visual navigation
- fuzzy logic controller
- robotic systems
- control system
- motion planning
- route selection
- degrees of freedom
- dynamic environments
- autonomous robots
- potential field
- unknown environments
- control strategies
- mobile robot navigation
- genetic algorithm
- convex sets
- control method
- multi robot
- high dimensional
- image sequences