dc.contributor.author | Syre Wiig, Martin | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Krogstad, Thomas Røbekk | |
dc.date.accessioned | 2019-03-29T08:28:41Z | |
dc.date.available | 2019-03-29T08:28:41Z | |
dc.date.created | 2019-01-10T12:50:09Z | |
dc.date.issued | 2018 | |
dc.identifier.isbn | 978-1-5386-1394-8 | |
dc.identifier.uri | http://hdl.handle.net/11250/2592334 | |
dc.description.abstract | 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 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 57th IEEE Conference on Decision and Control | |
dc.subject | Kollisjonsunngåelse | nb_NO |
dc.subject | Collision avoidance | nb_NO |
dc.subject | Ubemannede farkoster | nb_NO |
dc.subject | Unmanned vehicles | nb_NO |
dc.subject | Undervannsrobotikk | nb_NO |
dc.subject | Underwater robotics | nb_NO |
dc.title | A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.subject.nsi | VDP::Teknologi: 500 | nb_NO |
dc.subject.nsi | VDP::Technology: 500 | nb_NO |
dc.identifier.doi | 10.1109/CDC.2018.8619685 | |
dc.identifier.cristin | 1654055 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | false | |
cristin.fulltext | postprint | |