Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction
© 2016 IEEE. This letter presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prove impenetrability of the obsta...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/136208 |