TY - GEN
T1 - Adjustable navigation functions for unknown sphere worlds
AU - Filippidis, Ioannis
AU - Kyriakopoulos, Kostas J.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860655269&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2011.6161176
DO - 10.1109/CDC.2011.6161176
M3 - Conference contribution
AN - SCOPUS:84860655269
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4276
EP - 4281
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -