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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, Published 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.
Series
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
Identifiers
URN: urn:nbn:se:kth:diva-28522DOI: 10.1109/ACC.2008.4587037ISI: 000259261502147Scopus ID: 2-s2.0-52449124515OAI: oai:DiVA.org:kth-28522DiVA: diva2:389874
Conference
American Control Conference 2008 Seattle, WA, JUN 11-13, 2008
Note
QC 20110120Available from: 2011-01-20 Created: 2011-01-14 Last updated: 2011-01-20Bibliographically approved

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Dimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf