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dc.contributor.authorSyre Wiig, Martinen_GB
dc.contributor.authorPettersen, Kristinen_GB
dc.contributor.authorKrogstad, Thomas Røbekken_GB
dc.date.accessioned2019-08-06T12:25:25Z
dc.date.accessioned2019-09-30T08:33:23Z
dc.date.available2019-08-06T12:25:25Z
dc.date.available2019-09-30T08:33:23Z
dc.date.issued2019-01-21
dc.identifier.citationSyre Wiig MSW, Pettersen K, Krogstad TR. A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. I E E E Conference on Decision and Control. Proceedings. 2019;2018-December:1997-2004en_GB
dc.identifier.urihttp://hdl.handle.net/123456789/94690
dc.identifier.urihttp://hdl.handle.net/20.500.12242/2615
dc.descriptionSyre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk. A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. I E E E Conference on Decision and Control. Proceedings 2019 ;Volum 2018-December. s. 1997-2004 FFI NTNUen_GB
dc.description.abstractThis 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 the vehicle’s velocity vector. This vector is made to point a constant avoidance angle away from the obstacle, thus ensuring collision avoidance, while the forward speed is kept constant to maintain maneuverability. We choose an optimal pair of desired heading and pitch angles during the maneuver, thus taking advantage of the flexibility provided by operating in 3D. The algorithm incorporates limits on both the allowed pitch angle and the control inputs, which are limits that often are present in practical scenarios. Finally, we provide a mathematical proof that the collision avoidance maneuver is safe, and support the analysis through several simulations.en_GB
dc.language.isoenen_GB
dc.subjectTermSet Emneord::Styresystemeren_GB
dc.subjectTermSet Emneord::Autonome undervannsfarkosteren_GB
dc.subjectTermSet Emneord::Droneren_GB
dc.subjectTermSet Emneord::Ubemannede systemeren_GB
dc.subjectTermSet Emneord::Autonomien_GB
dc.subjectTermSet Emneord::Reguleringsteorien_GB
dc.titleA 3D Reactive Collision Avoidance Algorithm for Underactuated Vehiclesen_GB
dc.typeArticleen_GB
dc.date.updated2019-08-06T12:25:25Z
dc.identifier.cristinID1703958
dc.identifier.cristinID1703958
dc.identifier.doi10.1109/CDC.2018.8619685
dc.source.issn0743-1546
dc.type.documentJournal article
dc.relation.journalI E E E Conference on Decision and Control. Proceedings


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