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A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
(2018)
This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance
(2018)
This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...
A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles
(2018)
This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...