Avoiding sets of measure-zero in navigation transformation based controllers
Date Issued
June 2018
Author(s)
DOI
10.1007/978-3-030-00232-9_54
Abstract
The Navigation Transformation proposed in [Loizou (2017)] provides a novel solution to the motion and path planning problems, while enabling temporal stabilization up to a set of measure-zero of initial conditions. Since sets of measure zero are explicitly defined for a given workspace, this work proposes an additional control action that steers the system trajectories away from such sets. The provided theoretical results are backed with experimental studies.