Abstract
This work is related to the analysis of reactive obstacle avoidance in general, and specifically to ND algorithms family. Contrary to many previous methods, the ND approach is not aimed at devising a general motion law; instead, it operates over a reduced set of possible situations that are treated by a particular motion law. The big earning of this idea is that it eases the design of control, as now motion laws are specific to every identifiable situation. However, it also raises new issues as nothing guarantees the control action continuity when the diagnostic changes. In this paper a modification of the ND approach, along with experimental results, is presented in order to improve this aspect of the method.
This work has been partially supported by Canary Islands Government via F.E.D.E.R. funds (project PI2007/039).
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Hernandez, D., Cabrera, J., Dominguez, A., Isern, J. (2009). Control Action Continuity on Situation-Based Obstacle Avoidance. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory - EUROCAST 2009. EUROCAST 2009. Lecture Notes in Computer Science, vol 5717. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04772-5_58
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DOI: https://doi.org/10.1007/978-3-642-04772-5_58
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