Adaptive Tracking Control of On-line Path Planners: Velocity fields and Navigation functions

Problem Motivation

Traditionally, robot control researchers have focused on the position tracking problem where the objective is to force the robot to follow a desired time dependent trajectory. Since the objective is encoded in terms of a time dependent trajectory, the robot may be forced to follow an unknown course to catch up with the desired trajectory in the presence of a large initial error. Motivated by task objectives that are more effectively described by on-line, state-dependent trajectories, two adaptive tracking controllers are developed that accommodate on-line path planning objectives.

Navigation functions

Navigation Functions

Velocity Field

Velocity Fields

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