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

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

3 Citas (Scopus)

Resumen

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 original	Inglés
Páginas (desde-hasta)	59-70
Número de páginas	12
Publicación	Journal of Intelligent and Robotic Systems: Theory and Applications
Volumen	80
N.º	1
DOI	https://doi.org/10.1007/s10846-014-0157-z
Estado	Publicada - 7 oct. 2015

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© 2014, Springer Science+Business Media Dordrecht.

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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",

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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, n.º 1, pp. 59-70. https://doi.org/10.1007/s10846-014-0157-z

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 - 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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U2 - 10.1007/s10846-014-0157-z

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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