Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor

14 May 2020Zhichao LiThai DuongNikolay Atanasov

This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization to determine ellipsoid output bounds on the closed-loop robot trajectory under stabilizing control... (read more)

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