Adjustable navigation functions for unknown sphere worlds

Ioannis Filippidis, Kostas J. Kyriakopoulos

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

Abstract

This paper introduces an algorithm for automatically tuning analytic navigation functions for sphere worlds. The tuning parameter must satisfy a lower bound to ensure collision avoidance and convergence. Until now analytic navigation functions have been manually tuned, although existence of a lower bound had been proved. A theoretical improvement on this lower bound is provided and the method is extended to unbounded manifolds. Then the required formulas are derived and algorithm described. So the lower bound is here evaluated in terms of sphere world centers and radii. Automated tuning enables completely unattended solution of any navigation problem in unknown sphere worlds and a priori known worlds which belong to the sphere world diffeomorphism class.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4276-4281
Number of pages6
ISBN (Print)9781612848006
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/TerritoryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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