Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics

TL;DR

This paper introduces Dissipative Avoidance Feedback (DAF), a novel control method for smooth, collision-free robot navigation in unknown environments with second-order dynamics, using only local sensor data.

Contribution

The paper presents DAF, a dissipative feedback controller that accounts for velocity and position, improving obstacle avoidance over traditional potential field methods.

Findings

Guarantees collision-free navigation in n-dimensional spaces.

Ensures all undesired limit points are unstable under certain conditions.

Validated through simulations in 2D and 3D environments.

Abstract

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which primarily uses repulsive forces based on position, DAF employs a dissipative feedback mechanism that accounts for both position and velocity, contributing to smoother and more natural obstacle avoidance. The proposed continuously differentiable controller solves the motion-to-goal problem while guaranteeing collision-free navigation by using the robot's state and local obstacle distance information. We show that the controller guarantees safe navigation in generic $n$-dimensional environments and that all undesired $\omega$-limit points are unstable under certain controlled curvature conditions. Designed for real-time implementation, DAF requires only locally measured data from limited-range sensors (e.g., LiDAR, depth cameras), making it particularly effective for robots navigating unknown workspaces. Simulations in 2D and 3D environments are conducted to validate the theoretical results and to showcase the effectiveness of our approach.