Change search
ReferencesLink to record
Permanent link

Direct link
3D navigation and collision avoidance for a non-holonomic vehicle
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2008 (English)In: Proceedings of the American Control Conference, 2008, 3512-3517 p.Conference paper (Refereed)
Abstract [en]

This paper expands the methodology of Navigation Functions for the control of a spherical aircraft-like 3-dimensional nonholonomic vehicle. A Dipolar Navigation Function is used to generate a feasible, non-holonomic trajectory for the vehicle that leads from an arbitrary position to the target, in combination with a discontinuous feedback control law that steers the vehicle. The motion model used incorporates the nonholonomic constraints imposed on an aircraft, preventing any movement along the lateral or perpendicular axis, as well as preventing high yaw rotation rates. The control strategy provides guaranteed collision avoidance and convergence, and is supported by non-trivial simulation results.

Place, publisher, year, edition, pages
2008. 3512-3517 p.
, Proceedings of the American control conference, ISSN 0743-1619
Keyword [en]
Accidents, Aircraft, Aircraft accidents, Collision avoidance, Three dimensional, Vehicles, Weight control, 3-D navigation, 3-dimensional, Arbitrary positions, Control strategies, Discontinuous feedbacks, Motion modeling, Navigation function, Navigation functions, Non-holonomic, Non-holonomic constraint, Non-trivial, Simulation results, Yaw rotation, Air navigation
National Category
Signal Processing
URN: urn:nbn:se:kth:diva-28522DOI: 10.1109/ACC.2008.4587037ISI: 000259261502147ScopusID: 2-s2.0-52449124515OAI: diva2:389874
American Control Conference 2008 Seattle, WA, JUN 11-13, 2008
QC 20110120Available from: 2011-01-20 Created: 2011-01-14 Last updated: 2011-01-20Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Dimarogonas, Dimos V.
By organisation
Automatic Control
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 8 hits
ReferencesLink to record
Permanent link

Direct link