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dc.contributor.authorSyre Wiig, Martin
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorKrogstad, Thomas Røbekk
dc.date.accessioned2019-03-29T08:28:41Z
dc.date.available2019-03-29T08:28:41Z
dc.date.created2019-01-10T12:50:09Z
dc.date.issued2018
dc.identifier.isbn978-1-5386-1394-8
dc.identifier.urihttp://hdl.handle.net/11250/2592334
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.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartof57th IEEE Conference on Decision and Control
dc.subjectKollisjonsunngåelsenb_NO
dc.subjectCollision avoidancenb_NO
dc.subjectUbemannede farkosternb_NO
dc.subjectUnmanned vehiclesnb_NO
dc.subjectUndervannsrobotikknb_NO
dc.subjectUnderwater roboticsnb_NO
dc.titleA 3D Reactive Collision Avoidance Algorithm for Underactuated Vehiclesnb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.subject.nsiVDP::Teknologi: 500nb_NO
dc.subject.nsiVDP::Technology: 500nb_NO
dc.identifier.doi10.1109/CDC.2018.8619685
dc.identifier.cristin1654055
dc.relation.projectNorges forskningsråd: 223254nb_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.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedfalse
cristin.fulltextpostprint


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