This paper considers the obstacle avoidance problem for control‐linear systems satisfying the Hörmander condition with the first‐order Lie brackets. To solve the problem under consideration, we use a family of oscillating periodic control functions with state‐dependent coefficients. The proposed approach is shown to be applicable for different shapes of obstacles and various potential functions generating collision‐free paths. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Proceedings in Applied Mathematics & Mechanics – Wiley
Published: Jan 1, 2017
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