From Kinematic Motion Planners to Dynamic Autonomous Navigation with Obstacle Avoidance (Extended version)
The paper extends first-order motion planners to robots with second-order dynamics to ensure safe navigation around complex obstacles. It proposes two control schemes: Dynamic Damping Feedback (DDF) when a scalar function is known, and Velocity Tracking Feedback (VTF) when it is not. These methods guarantee safety and asymptotic stability in challenging environments where traditional planning fails.