Chapter Six - Motion Planning and Control Using Bionic Approaches Based on Unstable Modes

Abstract

This chapter addresses an approach to vehicle motion control based on using unstable modes. We introduce a notion of bifurcation parameter that can transform the vehicle's motion trajectory in the vicinity of obstacles by transforming them into repellers. Based on the proposed approach, an algorithm of simultaneous control and path planning is suggested. The numerical modeling results are given for the test scenes and for the environments with mobile obstacles. The performed research resulted in a modified method of control and motion planning in obstructed environments based on joint usage of unstable mode and the concept of a virtual goal point. The unstable mode and the virtual point are cohered by the bifurcation parameter. Computer modeling was performed for the obtained algorithms. The proposed approach allowed for the vehicle's functioning in a complicated obstructed environment using only the information about the distance to the detected obstacles.