Study of dynamical system based obstacle avoidance via manipulating orthogonal coordinates
This work addresses obstacle avoidance for robotics or autonomous systems, but it appears incremental as it builds on existing dynamical system methods.
The paper tackles obstacle avoidance in dynamical systems by introducing orthogonal coordinates and a rotating matrix to address local minima and improve motion in high-dimensional spaces, with experimental results demonstrating its effectiveness.
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new trajectory's direction can be represented by the linear combination of orthogonal coordinates. A orthogonal coordinates manipulating approach is proposed by introducing rotating matrix to solve the local minimal problem and provide more reasonable motions in 3-D or higher dimension space. The proposed method also provide a solution for patrolling around a convex shape. Experimental results on several designed dynamical systems demonstrate the effectiveness of the proposed approach.