论文标题
指导矢量场，用于以下遮挡路径
Guiding Vector Fields for Following Occluded Paths
论文作者
论文摘要
准确地遵循二维空间中的几何所需路径是许多工程系统，尤其是移动机器人的基本任务。当所需的路径被障碍物阻塞时，暂时偏离障碍/碰撞避免的路径是必要和至关重要的。在本文中，我们通过使用平滑的凸起函数来开发复合引导矢量场，并提供理论上的保证，即矢量场的整体曲线可以遵循任意足够平滑的所需路径，并避免与任意形状的障碍发生碰撞。这两种行为是反应性的，因为路径平面图和全局地图构造不涉及。为了解决常见的僵局问题，我们引入了一个切换向量场，并且排除了zeno行为。进行仿真以支持理论结果。
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to temporarily deviate from the path for obstacle/collision avoidance. In this paper, we develop a composite guiding vector field via the use of smooth bump functions, and provide theoretical guarantees that the integral curves of the vector field can follow an arbitrary sufficiently smooth desired path and avoid collision with obstacles of arbitrary shapes. These two behaviors are reactive since path (re)-planning and global map construction are not involved. To deal with the common deadlock problem, we introduce a switching vector field, and the Zeno behavior is excluded. Simulations are conducted to support the theoretical results.
