Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

Abstract

The problem of real-time motion generation to a target with obstacle avoidance is considered. A second-order dynamical system having the target as a unique globally asymptotically stable equilibrium is modified in the presence of obstacles by an additive signal whose design is based on the prescribed performance control methodology. It is proved that obstacle avoidance and dynamical system stability are guaranteed and that the target remains asymptotically stable. Simulations are utilized to reveal the cases where the proposed scheme outperforms the modulated dynamical system and the constrained optimization priority framework. Experimental results further validate the theoretical findings.