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Spline Trajectory Tracking and Obstacle Avoidance for Mobile Agents via Convex Optimization


Core Concepts
Linear output feedback controllers are synthesized to guide agents along predefined polynomial trajectories while ensuring safety within a polygonal environment.
Abstract
The content introduces a novel technique for trajectory planning and obstacle avoidance using convex optimization. It discusses path planning algorithms, control synthesis, stability constraints, safety constraints, and controller switching. Simulations demonstrate the effectiveness of the proposed method in both noise-free and noisy environments. I. Introduction Path planning is crucial for autonomous systems. Various algorithms aim to find feasible paths. Traditional methods like Potential Field Algorithms attract agents towards goals. A∗and RRT∗algorithms avoid local minima effectively. Sample-based techniques may not produce smooth trajectories. II. Preliminaries Linear Time Invariant system dynamics are modeled. Polynomial trajectories are represented using Bernstein basis polynomials. Bernstein polynomials and their derivatives are bounded. The polygonal environment is decomposed into convex cells. III. Proposed Solution Polynomial trajectories are written as outputs of reference dynamical systems. Stability constraints ensure agent convergence to reference trajectories. Safety constraints based on Control Barrier Functions prevent collisions with walls. Controllers are synthesized through convex optimization. IV. Simulations Simulation results without noise show successful trajectory tracking in a polygonal environment. Simulation results with noise demonstrate robustness to Gaussian noise. V. Conclusion The proposed technique synthesizes linear output feedback controllers for trajectory tracking and obstacle avoidance in complex environments.
Stats
Extensive simulations test motion planning under different conditions. Quadratic programs with Control Barrier Functions ensure safety critical systems' stability.
Quotes
"We propose an output feedback control-based motion planning technique." "Our approach combines elements of many path-planning techniques."

Deeper Inquiries

How can this technique be extended to handle dynamic obstacles

To extend this technique to handle dynamic obstacles, the controllers synthesized for each convex cell would need to be updated in real-time based on the changing positions of the obstacles. This could involve integrating sensor data to detect dynamic obstacles and incorporating predictive algorithms to anticipate their movements. By continuously updating the reference trajectories and safety constraints based on obstacle dynamics, the agents can navigate around moving objects while still converging to their desired paths.

What challenges might arise when implementing this method in real-world scenarios

Implementing this method in real-world scenarios may pose several challenges. One major challenge is computational complexity, especially when dealing with large-scale environments or a high number of convex cells. The optimization problems involved in synthesizing controllers for each cell can become computationally intensive, requiring efficient algorithms and powerful computing resources. Additionally, ensuring real-time responsiveness while maintaining safety guarantees poses another challenge, as any delays or inaccuracies in controller updates could lead to collisions or trajectory deviations. Furthermore, practical challenges such as sensor noise, communication delays between components of an autonomous system, and uncertainties in environmental conditions can impact the effectiveness of the path planning algorithm. Robustness testing under various realistic conditions is essential to validate its performance before deployment in real-world applications.

How can the concept of spline curves be applied to other fields beyond robotics

The concept of spline curves can be applied beyond robotics to various fields where smooth trajectory planning is required. In computer graphics and animation, spline curves are commonly used for creating smooth shapes and animations due to their flexibility and ability to generate visually appealing curves efficiently. In aerospace engineering, spline-based trajectory planning can be utilized for aircraft flight path optimization and control systems design. By representing flight trajectories using splines, engineers can ensure smoother maneuvers while adhering to safety constraints imposed by airspace regulations. Moreover, in manufacturing processes like CNC machining or 3D printing, spline curves play a crucial role in defining toolpaths for cutting or additive manufacturing operations. By leveraging spline interpolation techniques, manufacturers can achieve precise control over tool movements leading to higher accuracy and efficiency in production processes.
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