3D navigation and collision avoidance for a non-holonomic vehicle

Roussos, GP; Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Roussos, GP	en
dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:45:00Z
dc.date.available	2014-03-01T02:45:00Z
dc.date.issued	2008	en
dc.identifier.issn	07431619	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32092
dc.subject	3d navigation	en
dc.subject	Collision Avoidance	en
dc.subject	Control Strategy	en
dc.subject	Feedback Control	en
dc.subject	nonholonomic constraint	en
dc.subject	3 dimensional	en
dc.subject.other	Accidents	en
dc.subject.other	Aircraft	en
dc.subject.other	Aircraft accidents	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Three dimensional	en
dc.subject.other	Vehicles	en
dc.subject.other	Weight control	en
dc.subject.other	3-D navigation	en
dc.subject.other	3-dimensional	en
dc.subject.other	Arbitrary positions	en
dc.subject.other	Control strategies	en
dc.subject.other	Discontinuous feedbacks	en
dc.subject.other	Motion modeling	en
dc.subject.other	Navigation function	en
dc.subject.other	Navigation functions	en
dc.subject.other	Non-holonomic	en
dc.subject.other	Non-holonomic constraint	en
dc.subject.other	Non-trivial	en
dc.subject.other	Simulation results	en
dc.subject.other	Yaw rotation	en
dc.subject.other	Air navigation	en
dc.title	3D navigation and collision avoidance for a non-holonomic vehicle	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ACC.2008.4587037	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ACC.2008.4587037	en
heal.identifier.secondary	4587037	en
heal.publicationDate	2008	en
heal.abstract	This paper expands the methodology of Navigation Functions for the control of a spherical aircraft-like 3-dimensional nonholonomic vehicle. A Dipolar Navigation Function is used to generate a feasible, non-holonomic trajectory for the vehicle that leads from an arbitrary position to the target, in combination with a discontinuous feedback control law that steers the vehicle. The motion model used incorporates the nonholonomic constraints imposed on an aircraft, preventing any movement along the lateral or perpendicular axis, as well as preventing high yaw rotation rates. The control strategy provides guaranteed collision avoidance and convergence, and is supported by non-trivial simulation results. ©2008 AACC.	en
heal.journalName	Proceedings of the American Control Conference	en
dc.identifier.doi	10.1109/ACC.2008.4587037	en
dc.identifier.spage	3512	en
dc.identifier.epage	3517	en