Robotics paper index
Safe and robust tube-based path-following for robot navigation
One-line summary
A robotics research paper on Safe and robust tube-based path-following for robot navigation.
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safety through obstacle avoidance and guaranteed convergence to a target path, while simultaneously mitigating the impact of unknown-but-bounded disturbances using a tube-based control strategy. The methodology integrates key aspects in the robot navigation: (i) a nominal Integrated Guidance and Control scheme for path-following employing Artificial Vector Fields guidance and Backstepping control; (ii) a smooth distance function that enables a continuous control law formulation for seamless obstacle avoidance; (iii) a unified control objective that balances collision avoidance with path-following; and (iv) an adaptive control component to provide robustness against external disturbances. We provide formal proofs of safety and stability using barrier functions and Lyapunov stability theory. The effectiveness of the proposed framework is validated through extensive numerical simulations.
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