Vector field for curve tracking with obstacle avoidance

Author(s)

Nunes, Arthur H. D. ; Rezende, Adriano M. C. ; Cruz Junior, Gilmar P. ; Freitas, Gustavo M. ; Goncalves, Vinicius M. ; Pimenta, Luciano C. A. ; IEEE

• Document type: Journal article
• Source: 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 8-pg., 2022-01-01.

Abstract

In this work, we extend a recently proposed methodology to construct artificial vector fields for robot navigation in n-dimensional spaces to track and circulate time-varying curves. Now, we incorporate the ability to deviate from obstacles that might be static or dynamic by constructing a collision-free vector field. It can be considered a reactive approach in which the obstacles can be locally sensed and then circumnavigated at a fixed distance. The novel vector field that allows the circumnavigation of obstacles and the traversal of a target curve is built upon the consideration of the closest points on the obstacles, which can assume a generic shape, and the closest point on the curve. To validate our method, we present ROS-based computational simulations and real-world experiments with a wheeled robot and a UAV quadcopter. (AU)

• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants