Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance

L. A. García-Delgado; J. R. Noriega; D. Berman-Mendoza; A. L. Leal-Cruz; A. Vera-Marquina; R. Gómez-Fuentes; A. García-Juárez; A. G. Rojas-Hernández; I. E. Zaldívar-Huerta

doi:10.1007/s10846-014-0157-z

Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance

L. A. García-Delgado, J. R. Noriega, D. Berman-Mendoza, A. L. Leal-Cruz, A. Vera-Marquina, R. Gómez-Fuentes, A. García-Juárez, A. G. Rojas-Hernández, I. E. Zaldívar-Huerta

Departamento de Investigación en Física

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

In this article, a collision avoidance scheme based on potential functions is proposed. The first part of the paper is intended to establish the equations of the dynamic model of the vehicle, potential attractive functions and nested saturation controller. In the second part, the repulsive scheme is developed. Along with the repulsive scheme, the controller constants are optimized, in order to perform a safer avoidance maneuver. The advantages of the proposed repulsive schemes compared with a conventional repulsive function are demonstrated by simulations.

Original language	English
Pages (from-to)	59-70
Number of pages	12
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	80
Issue number	1
DOIs	https://doi.org/10.1007/s10846-014-0157-z
State	Published - 7 Oct 2015

Bibliographical note

Publisher Copyright:
© 2014, Springer Science+Business Media Dordrecht.

Keywords

Nested Saturation
Optimization
Quad-Rotors
Repulsive Function

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10.1007/s10846-014-0157-z

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García-Delgado, L. A., Noriega, J. R., Berman-Mendoza, D., Leal-Cruz, A. L., Vera-Marquina, A., Gómez-Fuentes, R., García-Juárez, A., Rojas-Hernández, A. G., & Zaldívar-Huerta, I. E. (2015). Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance. Journal of Intelligent and Robotic Systems: Theory and Applications, 80(1), 59-70. https://doi.org/10.1007/s10846-014-0157-z

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title = "Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance",

abstract = "In this article, a collision avoidance scheme based on potential functions is proposed. The first part of the paper is intended to establish the equations of the dynamic model of the vehicle, potential attractive functions and nested saturation controller. In the second part, the repulsive scheme is developed. Along with the repulsive scheme, the controller constants are optimized, in order to perform a safer avoidance maneuver. The advantages of the proposed repulsive schemes compared with a conventional repulsive function are demonstrated by simulations.",

keywords = "Nested Saturation, Optimization, Quad-Rotors, Repulsive Function",

author = "Garc{\'i}a-Delgado, {L. A.} and Noriega, {J. R.} and D. Berman-Mendoza and Leal-Cruz, {A. L.} and A. Vera-Marquina and R. G{\'o}mez-Fuentes and A. Garc{\'i}a-Ju{\'a}rez and Rojas-Hern{\'a}ndez, {A. G.} and Zald{\'i}var-Huerta, {I. E.}",

note = "Publisher Copyright: {\textcopyright} 2014, Springer Science+Business Media Dordrecht.",

year = "2015",

month = oct,

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doi = "10.1007/s10846-014-0157-z",

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García-Delgado, LA , Noriega, JR , Berman-Mendoza, D , Leal-Cruz, AL , Vera-Marquina, A , Gómez-Fuentes, R , García-Juárez, A , Rojas-Hernández, AG & Zaldívar-Huerta, IE 2015, 'Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance', Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 80, no. 1, pp. 59-70. https://doi.org/10.1007/s10846-014-0157-z

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T1 - Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance

AU - García-Delgado, L. A.

AU - Noriega, J. R.

AU - Berman-Mendoza, D.

AU - Leal-Cruz, A. L.

AU - Vera-Marquina, A.

AU - Gómez-Fuentes, R.

AU - García-Juárez, A.

AU - Rojas-Hernández, A. G.

AU - Zaldívar-Huerta, I. E.

PY - 2015/10/7

Y1 - 2015/10/7

N2 - In this article, a collision avoidance scheme based on potential functions is proposed. The first part of the paper is intended to establish the equations of the dynamic model of the vehicle, potential attractive functions and nested saturation controller. In the second part, the repulsive scheme is developed. Along with the repulsive scheme, the controller constants are optimized, in order to perform a safer avoidance maneuver. The advantages of the proposed repulsive schemes compared with a conventional repulsive function are demonstrated by simulations.

AB - In this article, a collision avoidance scheme based on potential functions is proposed. The first part of the paper is intended to establish the equations of the dynamic model of the vehicle, potential attractive functions and nested saturation controller. In the second part, the repulsive scheme is developed. Along with the repulsive scheme, the controller constants are optimized, in order to perform a safer avoidance maneuver. The advantages of the proposed repulsive schemes compared with a conventional repulsive function are demonstrated by simulations.

KW - Nested Saturation

KW - Optimization

KW - Quad-Rotors

KW - Repulsive Function

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DO - 10.1007/s10846-014-0157-z

M3 - Artículo

SN - 0921-0296

VL - 80

SP - 59

EP - 70

JO - Journal of Intelligent and Robotic Systems: Theory and Applications

JF - Journal of Intelligent and Robotic Systems: Theory and Applications

IS - 1

ER -

Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance

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Keywords

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