擬似空間を利用した障害物回避問題に対する制御系設計

概要

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In this paper, we deal with an obstacle avoidance control problem for a mobile robot. Recently, obstacle avoidance problem has become one of the important issues. Usually, obstacle avoidance problem is dealt as a constrained control problem. Optimal control technique is used for formulating the problem in our approach. Basically, circular obstacle is assumed in this paper. Firstly, we introduce a virtual space and the obstacle avoidance problem is formulated into an unconstrained optimal control problem. In the virtual space, the obstacle avoidance problem is represented as an unconstrained problem. However, note that a descriptor expression comes out in the virtual space. Therefore, we propose a technique to obtain a solution for the descriptor form. Finally, the effectiveness of our approach is shown through some numerical simulations.