3D navigation and collision avoidance for a non-holonomic vehicle

Giannis P. Roussos, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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