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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jiangmin Chunyu Zhihua Qu Pollak, E. Falash, M. |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Electrical Engineering and Computer Science, University of Central Florida, Orlando, 32816, USA (Jiangmin Chunyu) || Strategic Technologies Group at L-3 Communications, Link Simulation & Training, 12351 Research Pkwy, Orlando, 32826, USA (Pollak, E.; Falash, M.) || Faculty of School of Electrical Engineering and Computer Science, University of Central Florida, Orlando, 32816, USA (Zhihua Qu) |
| Abstract | This paper addresses a new reactive control design for point-mass vehicles with limited sensor range to track targets while avoiding static and moving obstacles in a dynamically evolving environment. Towards this end, a multiobjective control problem is formulated and control is synthesized by generating a potential field force for each objective and combining them through analysis and design. Different from standard potential field methods, the composite potential field described in this paper is time-varying and planned to account for moving obstacles and vehicle motion. Basic conditions and key properties are derived using rigorous Lyapunov analysis. Simulation examples are included to illustrate both the design process and performance of proposed control. |
| Starting Page | 3872 |
| Ending Page | 3877 |
| File Size | 1820271 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424445233 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2009.5160362 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-10 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Mobile robots Vehicle dynamics Target tracking Force control Computer science Control design Marine vehicles Force sensors Process design Robot sensing systems |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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