Li Caili, Tanner Herbert G
Department of Mechanical Engineering, University of Delaware, Newark, DE, 19711 USA.
IEEE Trans Robot. 2019 Feb;35(1):35-48. doi: 10.1109/TRO.2018.2875421. Epub 2018 Oct 26.
This paper formally constructs navigation functions with time-varying destinations on star worlds. The construction is based on appropriate diffeomorphic transformations and extends an earlier sphere-world formulation. A new obstacle modeling method is also introduced, reducing analytical complexity, and offering unified expressions of common classes of -dimensional obstacles. The method allows for dynamic target tracking, and is validated through simulations and experiments.
本文正式构建了星型世界上具有时变目标的导航函数。该构建基于适当的微分同胚变换，并扩展了早期的球面世界公式。还引入了一种新的障碍物建模方法，降低了分析复杂度，并给出了常见类别的n维障碍物的统一表达式。该方法允许进行动态目标跟踪，并通过仿真和实验进行了验证。
