Repulsive Function in Potential Field Based Control with Algorithm for Safer Avoidance

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...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2015-10, Vol.80 (1), p.59-70
Main Authors: 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.
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Automotive components
Avoidance
Computer simulation
Constants
Control
Controllers
Dynamical systems
Electrical Engineering
Engineering
Mathematical models
Mechanical Engineering
Mechatronics
Robotics
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Summary: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.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-014-0157-z