Research
Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
arXiv:2604.17212v1 Announce Type: new Abstract: 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
arXiv:2604.17212v1 Announce Type: new Abstract: 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.
Related
- Optimal Kinodynamic Motion Planning Through Anytime Bidirectional Heuristic Search with Tight Termination Condition
- One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms
- A Hamilton-Jacobi Reachability-Guided Search Framework for Efficient and Safe Indoor Planar Robot Navigation
Source: arXiv cs.RO | 2026-04-21