Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles

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

doi:10.23919/ecc.2009.7074669

Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles

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

Electrical Engineering

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

Abstract

This paper builds upon previous work of the authors to present a methodology for the decentralized control of multiple 3-dimensional nonholonomic vehicles, utilizing Navigation Functions. The kinematic, non-holonomic, 3-dimensional model considered is chosen to resemble the motion of an aircraft by preventing any movement along the lateral or perpendicular axis, as well as avoiding high yaw rotation rates. The discontinuous feedback control law used is based on the artificial potential field generated by a Dipolar Navigation Function and steers the agents away from each other and towards their destinations, while respecting the non-holonomic constraints present. The performance of the proposed control strategy is formally guaranteed and verified by non-trivial simulation results.

Original language	English (US)
Title of host publication	2009 European Control Conference, ECC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1830-1835
Number of pages	6
ISBN (Electronic)	9783952417393
DOIs	https://doi.org/10.23919/ecc.2009.7074669
State	Published - Mar 26 2014
Event	2009 10th European Control Conference, ECC 2009 - Budapest, Hungary Duration: Aug 23 2009 → Aug 26 2009

Publication series

Name	2009 European Control Conference, ECC 2009

Other

Other	2009 10th European Control Conference, ECC 2009
Country/Territory	Hungary
City	Budapest
Period	8/23/09 → 8/26/09

ASJC Scopus subject areas

Control and Systems Engineering

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10.23919/ecc.2009.7074669

Cite this

Roussos, G. P., Dimarogonas, D. V., & Kyriakopoulos, K. J. (2014). Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles. In 2009 European Control Conference, ECC 2009 (pp. 1830-1835). Article 7074669 (2009 European Control Conference, ECC 2009). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ecc.2009.7074669

Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles. / Roussos, Giannis P.; Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1830-1835 7074669 (2009 European Control Conference, ECC 2009).

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

Roussos, GP, Dimarogonas, DV & Kyriakopoulos, KJ 2014, Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles. in 2009 European Control Conference, ECC 2009., 7074669, 2009 European Control Conference, ECC 2009, Institute of Electrical and Electronics Engineers Inc., pp. 1830-1835, 2009 10th European Control Conference, ECC 2009, Budapest, Hungary, 8/23/09. https://doi.org/10.23919/ecc.2009.7074669

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AB - This paper builds upon previous work of the authors to present a methodology for the decentralized control of multiple 3-dimensional nonholonomic vehicles, utilizing Navigation Functions. The kinematic, non-holonomic, 3-dimensional model considered is chosen to resemble the motion of an aircraft by preventing any movement along the lateral or perpendicular axis, as well as avoiding high yaw rotation rates. The discontinuous feedback control law used is based on the artificial potential field generated by a Dipolar Navigation Function and steers the agents away from each other and towards their destinations, while respecting the non-holonomic constraints present. The performance of the proposed control strategy is formally guaranteed and verified by non-trivial simulation results.

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Distributed 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles

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