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

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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


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