Pothen, AA and Ratnoo, A (2017) Obstacle avoidance for autonomous vehicles using an adaptive lyapunov vector field. In: 57th Israel Annual Conference on Aerospace Sciences, IACAS 2017, 15 - 16 March 2017, Tel Aviv and Haifa.
Full text not available from this repository.Abstract
This paper presents a vector field based obstacle avoidance method for circumventing static circular obstacles and reaching a goal point. The proposed approach is derived from the Lyapunov vector field theory combined with a penalty-like function which modifies the tangential component of the normalized heading vector when close to the obstacle, that is, inside the obstacle influence region. Simulations are performed considering single and multi-obstacle environments. The effect of influence region radius on the course rate and settling time characteristics is studied through simulations.
| Item Type: | Conference Paper |
|---|---|
| Publication: | 57th Israel Annual Conference on Aerospace Sciences, IACAS 2017 |
| Publisher: | Israel Annual Conference on Aerospace Sciences |
| Additional Information: | The copyright for this article belongs to Israel Annual Conference on Aerospace Sciences. |
| Keywords: | Aerospace engineering, Autonomous Vehicles; Goal points; Lyapunov vectors; Settling time; Tangential components; Vector fields, Vectors |
| Department/Centre: | Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering) |
| Date Deposited: | 19 Jul 2022 04:10 |
| Last Modified: | 19 Jul 2022 04:10 |
| URI: | https://eprints.iisc.ac.in/id/eprint/74771 |
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