TY - JOUR
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 - © 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.
AB - © 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.
U2 - 10.1007/s10846-014-0157-z
DO - 10.1007/s10846-014-0157-z
M3 - Article
SN - 0921-0296
SP - 59
EP - 70
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
ER -