TY - GEN
T1 - Towards constant velocity navigation and collision avoidance for autonomous nonholonomic aircraft-like vehicles
AU - Roussos, Giannis
AU - Kyriakopoulos, Kostas J.
PY - 2009
Y1 - 2009
N2 - This paper presents a methodology for the decentralised control of multiple 3-dimensional nonholonomic agents. The proposed control scheme is based on Navigation Functions and offers improvements compared to previous work of the authors in this field. The problem formulation is chosen to resemble Air-Traffic Management, where the safety guarantees provided by Navigation Functions based control strategies are very important. The linear velocity of each agent is maintained constant and equal to a desired value in most cases, while the azimuth and elevation control laws are engineered to reduce the required control effort. These qualitative improvements do not affect the collision avoidance characteristics of the control strategy. The performance and efficiency of our approach is supported by computer simulations presented in the paper.
AB - This paper presents a methodology for the decentralised control of multiple 3-dimensional nonholonomic agents. The proposed control scheme is based on Navigation Functions and offers improvements compared to previous work of the authors in this field. The problem formulation is chosen to resemble Air-Traffic Management, where the safety guarantees provided by Navigation Functions based control strategies are very important. The linear velocity of each agent is maintained constant and equal to a desired value in most cases, while the azimuth and elevation control laws are engineered to reduce the required control effort. These qualitative improvements do not affect the collision avoidance characteristics of the control strategy. The performance and efficiency of our approach is supported by computer simulations presented in the paper.
UR - http://www.scopus.com/inward/record.url?scp=77950826125&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2009.5400814
DO - 10.1109/CDC.2009.5400814
M3 - Conference contribution
AN - SCOPUS:77950826125
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5661
EP - 5666
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -