By Topic

A Virtual velocity attractor, harmonic potential approach for joint planning and control of a UAV

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Ahmad A. Masoud ; Electrical Engineering Department, King Fahad University of Petroleum and Minerals, Dhahran Saudi Arabia

The objective of this work is to develop a practical, closed-loop and simple navigation controller that suits a large variety of unmanned aerial vehicles (UAVs). The method indirectly controls the trajectory of a UAV by regulating its velocity using as a reference a dense vector field derived from the gradient of a harmonic potential filed (HPF). The field functions to inject the robot's context in the control process by forcing its group structure to observe a set of state and differential constraints that reflect the contents of the environment, the goal to be reached and the constraints on behavior. The velocity regulation process is carried-out using a novel concept called the: virtual velocity attractor (VVA). The HPF approach, the VVA procedure and a recently suggested two stage approach for modeling the motion of rigid, nonholonomic robots [43] seems to be well-matched to each other enabling easy, on-line conversion of the provably-correct guidance signal from the HPF planner into a well-behaved control signal that can be fed to the actuator of the UAV.

Published in:

Proceedings of the 2011 American Control Conference

Date of Conference:

June 29 2011-July 1 2011