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

Roussos, G; Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Roussos, G	en
dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:32:25Z
dc.date.available	2014-03-01T01:32:25Z
dc.date.issued	2010	en
dc.identifier.issn	0890-6327	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20120
dc.subject	Air traffic control	en
dc.subject	Collision avoidance	en
dc.subject	Multi-agent systems	en
dc.subject	Nonholonomic control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	3D navigation	en
dc.subject.other	Artificial potential fields	en
dc.subject.other	Control strategies	en
dc.subject.other	Convergence properties	en
dc.subject.other	Discontinuous feedbacks	en
dc.subject.other	Multi-agent problems	en
dc.subject.other	Navigation functions	en
dc.subject.other	Non holonomic constraint	en
dc.subject.other	Non-holonomic control	en
dc.subject.other	Non-trivial	en
dc.subject.other	Nonholonomic vehicles	en
dc.subject.other	Nonholonomics	en
dc.subject.other	Simulation result	en
dc.subject.other	Single-agent	en
dc.subject.other	Three-dimensional model	en
dc.subject.other	Yaw rotation	en
dc.subject.other	Air navigation	en
dc.subject.other	Air traffic control	en
dc.subject.other	Aircraft accidents	en
dc.subject.other	Airport buildings	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Control theory	en
dc.subject.other	Control towers	en
dc.subject.other	Three dimensional	en
dc.subject.other	Multi agent systems	en
dc.title	3D navigation and collision avoidance for nonholonomic aircraft-like vehicles	en
heal.type	journalArticle	en
heal.identifier.primary	10.1002/acs.1199	en
heal.identifier.secondary	http://dx.doi.org/10.1002/acs.1199	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	This paper extends the Navigation Function methodology to the case of 3D nonholonomic vehicles, both in single agent and multi-agent problems. The kinematic, nonholonomic, three-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 preventing high yaw rotation rates. The discontinuous feedback control law used is based on the artificial potential field generated by Dipolar Navigation Functions and steers the agents away from obstacles or each other and towards their destinations, while respecting the nonholonomic constraints present. The convergence properties of the proposed control strategies are formally guaranteed and verified by non-trivial simulation results. Copyright (C) 2010 John Wiley & Sons, Ltd.	en
heal.publisher	JOHN WILEY & SONS LTD	en
heal.journalName	International Journal of Adaptive Control and Signal Processing	en
dc.identifier.doi	10.1002/acs.1199	en
dc.identifier.isi	ISI:000283471000007	en
dc.identifier.volume	24	en
dc.identifier.issue	10	en
dc.identifier.spage	900	en
dc.identifier.epage	920	en