Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914488498782208 |
|---|---|
| author | Amiri, Aref Sakcak, Basak LaValle, Steven M. |
| author_facet | Amiri, Aref Sakcak, Basak LaValle, Steven M. |
| contents | This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. We introduce a novel QP formulation to create a Cinfinity-smooth vector field with reduced total bending and total turning. Then we design an analytic, non-linear feedback controller that inherently satisfies the conditions of Nagumo's theorem, ensuring forward invariance of the safe set without requiring any online optimization. We have demonstrated that our controller, even under hard input limits, safely converges to the goal position. Simulations confirm the effectiveness of the proposed framework, resulting in a twice faster arrival time with over 50\% lower angular control effort compared to the baseline. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_17212 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles Amiri, Aref Sakcak, Basak LaValle, Steven M. Robotics This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. We introduce a novel QP formulation to create a Cinfinity-smooth vector field with reduced total bending and total turning. Then we design an analytic, non-linear feedback controller that inherently satisfies the conditions of Nagumo's theorem, ensuring forward invariance of the safe set without requiring any online optimization. We have demonstrated that our controller, even under hard input limits, safely converges to the goal position. Simulations confirm the effectiveness of the proposed framework, resulting in a twice faster arrival time with over 50\% lower angular control effort compared to the baseline. |
| title | Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.17212 |