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A new SF-GVF with prescribed physical speed (PPS) that converge exponentially to the desired path from any initial condition in the higher-dimensional space (including virtual dimension); more importantly, the robot's physical speed converges to the PPS, while the path-error dynamics remain invariant under regular reparameterizations of the desired path.
A safety-oriented collision avoidance vector field with adaptively adjustable reactive boundary is developed to accommodate the kinematic curvature constraints of robots, thereby ensuring the physical feasibility of collision avoidance maneuvers.
Achieving finite-time convergence in nonholonomic robots without compromising actuator limits could redefine motion planning strategies in robotics.
Achieving simultaneous arrival for multi-robot systems with curvature and speed constraints could revolutionize cooperative tasks in dynamic environments.
