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

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

Nyckelord

Accidents

Aircraft

Aircraft accidents

Collision avoidance

Three dimensional

Vehicles

Weight control

3-D navigation

3-dimensional

Arbitrary positions

Control strategies

Discontinuous feedbacks

Motion modeling

Navigation function

Navigation functions

Non-holonomic

Non-holonomic constraint

Non-trivial

Simulation results

Yaw rotation

Air navigation

Signal processing

Signalbehandling

Publikations- och innehållstyp

ref (ämneskategori)

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