Control design for obstacle avoidance problem via a virtual space

Tomoaki Kobayashi, Atsushi Ueda, Joe Imae, Guisheng Zhai

Research output: Contribution to journalArticlepeer-review


In this paper, we deal with an obstacle avoidance control problem for a mobile robot. Recently, obstacle avoidana problem has become one of the important issues. Usually, obstacle avoidance problem is dealt as a constrained contro problem. Optimal control technique is used for formulating the problem in our approach. Basically, circular obstacli is assumed in this paper. Firstly, we introduce a virtual space and the obstacle avoidance problem is formulated intt an unconstrained optimal control problem. In the virtual space, the obstacle avoidance problem is represented as ai unconstrained problem. However, note that a descriptor expression comes out in the virtual space. Therefore, we proposi a technique to obtain a solution for the descriptor form. Finally, the effectiveness of our approach is shown through somi numerical simulations.

Original languageEnglish
Pages (from-to)1302-1309
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number776
Publication statusPublished - 2011
Externally publishedYes


  • Descriptor system
  • Motion control
  • Moving robot
  • Obstacle avoidance
  • Optimal control
  • State constraint

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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