Abstract
This letter adapts the invariant-set motion planner (ISMP) for robot motion planning. We derive control invariant subsets of configuration-space bubbles lifted into the state-space. The resulting sets guarantee collision avoidance since they are both constraint admissible and control invariant. We present a command governor that enforces the positive invariance of the constraints in closed-loop. This governor can be used to transform any nominal tracking controller into a constraint enforcing controller. We use these control invariant sets to quantify a relationship between velocity and control authority that enables collision avoidance. We demonstrate our invariant-sets through an illustrative numerical example.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
