Extended dynamic system modulation for real-time obstacle avoidance

In this paper, a novel real-time obstacle avoidance method based on Dynamic System (DS), is proposed. The proposed method ensures the impenetrability of multiple convex obstacles by online modulating the original velocity field of the DS. It can be applied to perform obstacle avoidance in the state space of the DS with both autonomous and non-autonomous DS-based controllers. While realizing the obstacle avoidance, the equilibrium points of the original DS can be saved. The modulation matrix form is extended based on the earlier dynamic system modulation methods of the literature. The asymmetric modulation provided by this method allows the modulated DS to satisfy the dynamic constraints of a class of DSs. In addition, the proposed method has the inherent ability of multiple-obstacle avoidance and the direction selectivity of avoidance maneuver. Moreover, to solve the simultaneous guidance and obstacle avoidance problem, a guidance law for Unmanned Aerial Vehicles (UAVs) based on the proposed method, is designed. Finally, a numerical simulation is performed to analyze the performance of the proposed method and the obstacle avoidance guidance law.