Abstract
In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood of any desired configuration within a predetermined time span, and at the same time prevents any collisions with the obstacles and the workspace boundary along the way. The introduction of a novel vector field allows us to establish the safety of the system and simultaneously apply the prescribed performance control technique to guarantee any predefined transient behavior. Subsequently, we leverage well-established transformations to apply the proposed scheme to the far more practical class of generalized sphere worlds. Finally, we validate the theoretical findings via a numerical simulation.
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.
