Safe and robust tube-based path-following for robot navigation

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.