Towards constant velocity navigation and collision avoidance for autonomous nonholonomic aircraft-like vehicles

Roussos, G; Kyriakopoulos, KJ

dc.contributor.author	Roussos, G	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:46:34Z
dc.date.available	2014-03-01T02:46:34Z
dc.date.issued	2009	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32717
dc.subject	Air Traffic Management	en
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Control Strategy	en
dc.subject	3 dimensional	en
dc.subject.other	3-dimensional	en
dc.subject.other	Constant velocities	en
dc.subject.other	Control effort	en
dc.subject.other	Control schemes	en
dc.subject.other	Control strategies	en
dc.subject.other	Decentralised control	en
dc.subject.other	Elevation control	en
dc.subject.other	Linear velocity	en
dc.subject.other	Navigation functions	en
dc.subject.other	Nonholonomics	en
dc.subject.other	Problem formulation	en
dc.subject.other	Safety guarantees	en
dc.subject.other	Traffic management	en
dc.subject.other	Air navigation	en
dc.subject.other	Air traffic control	en
dc.subject.other	Aircraft accidents	en
dc.subject.other	Computer simulation	en
dc.subject.other	Quality control	en
dc.title	Towards constant velocity navigation and collision avoidance for autonomous nonholonomic aircraft-like vehicles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2009.5400814	en
heal.identifier.secondary	5400814	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2009.5400814	en
heal.publicationDate	2009	en
heal.abstract	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. ©2009 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2009.5400814	en
dc.identifier.spage	5661	en
dc.identifier.epage	5666	en