Control action continuity on situation-based obstacle avoidance

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.