Obstacle avoidance control via modified SDRE method

As one of the conventional methods of the obstacle avoidance control, there is the method using the optimal regulator. However, it is impossible to develop analytic solutions of the method in almost all cases, and also it requires a lot of time in numerical solutions. Here we develop an obstacle avoidance control using the SDRE method by which a nonlinear controller can be designed in a short computational time. This paper shows that when a conventional SDRE method is used, there are examples where the obstacle avoidance is impossible. Moreover, we propose a modified SDRE method and show the effectiveness of the method by simple examples.