A modified, hybrid, PDE-ODE controller with integrated directional and region avoidance constraints

This paper extends the capabilities of the evolutionary, hybrid PDE-ODE controller (EHPC) that is suggested previously by the authors (1998) for navigating in an unknown, multidimensional, stationary environment. This is accomplished by modifying the hybrid, PDE-ODE controller used in constructing the EHPC so that it can incorporate directional requirements among the set of constraints it is enforcing. Theoretical developments along with simulation results are provided.

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