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

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Resumen

© 2014, Springer Science+Business Media Dordrecht. 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.
Idioma originalInglés estadounidense
Páginas (desde-hasta)59-70
Número de páginas12
PublicaciónJournal of Intelligent and Robotic Systems: Theory and Applications
DOI
EstadoPublicada - 7 oct. 2015

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