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Overview
Blending
Two controllers in one.
u gtg
uao,n
uao
2
uao
uao
Hard-Switching
One controller at a time.
Switch from go-to-goal to
avoid-obstacles near any
obstacles.
u gtg
uao
3
Intermediary
Avoid chattering by using
the blended controller
between go-to-goal and
avoid obstacles.
u gtg
uao
4
A State Machine
at_obstacle
go_to_goal
unsafe
ao_and_gtg
obstacle_cleared
avoid_obstacles
at_obstacle
at_goal
stop
Files of Interest
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8
Tips