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

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

doi:10.1109/ACC.2008.4587037

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

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

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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 language	English (US)
Title of host publication	2008 American Control Conference, ACC
Pages	3512-3517
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2008.4587037
State	Published - 2008
Event	2008 American Control Conference, ACC - Seattle, WA, United States Duration: Jun 11 2008 → Jun 13 2008

Publication series

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

Other

Other	2008 American Control Conference, ACC
Country/Territory	United States
City	Seattle, WA
Period	6/11/08 → 6/13/08

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2008.4587037

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title = "3D navigation and collision avoidance for a non-holonomic vehicle",

abstract = "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.",

author = "Roussos, {Giannis P.} and Dimarogonas, {Dimos V.} and Kyriakopoulos, {Kostas J.}",

year = "2008",

doi = "10.1109/ACC.2008.4587037",

language = "English (US)",

isbn = "9781424420797",

series = "Proceedings of the American Control Conference",

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AU - Kyriakopoulos, Kostas J.

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - 2008 American Control Conference, ACC

T2 - 2008 American Control Conference, ACC

Y2 - 11 June 2008 through 13 June 2008

ER -

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

Abstract

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