Guidance laws for planar motion control

Breivik, Morten; Fossen, Thor I.

doi:10.1109/cdc.2008.4739465

Cited by 65 publications

(49 citation statements)

References 20 publications

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“…This subsection briefly describes constant bearing guidance (CB) as presented in [12] and [6]. CB guidance assigns a desired velocity based on two different components expressed in the earth-fixed frame.…”

Section: Constant Bearing Guidancementioning

confidence: 99%

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Leader–Follower Synchronisation for a Class of Underactuated Systems

Belleter

Pettersen

2016

Nonlinear Systems

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In this work leader-follower synchronization is considered for underactuated followers in an inhomogeneous multi-agent system. The goal is to synchronise the motion of a leader and an underactuated follower. Measurements of the leader's position, velocity, acceleration, and jerk are available, while the dynamics of the leader is unknown. The leader velocities are used as input for a constant bearing guidance algorithm to assure that the follower synchronises its motion to the leader. It is also shown that the proposed leader-follower scheme can be applied to multi-agent systems that are subjected to unknown environmental disturbances. Furthermore, the trajectory of the leader does not need to be known. The closed-loop dynamics are analysed and it is shown that under certain conditions all solutions remain bounded and the synchronisation error kinematics are shown to be integral input-to-state stable with respect to changes in the unactuated sway velocity. For straight-line motions, i.e. where the desired yaw rate and sway velocity go to zero, synchronisation is achieved. Simulation results are presented to validate the proposed control strategy.

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Section: Constant Bearing Guidancementioning

confidence: 99%

“…In [24] the focus is on interaction forces between two vessels during underway replenishment operations. For control purposes the constant bearing guidance algorithm from [6] is used to synchronise the ships along a straight-line path. The vessels are underactuated, but no analysis of the underactuated internal dynamics are given.…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower Synchronisation for a Class of Underactuated Systems

Belleter

Pettersen

2016

Nonlinear Systems

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“…When the control system is in guidance mode, the heading is guided by a pure pursuit guidance law [23]:…”

Section: B Guidance Lawmentioning

confidence: 99%

A reactive collision avoidance algorithm for nonholonomic vehicles

Wiig

Pettersen

Krogstad

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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Abstract-This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The algorithm compensates for the obstacle velocity, which can be timevarying. Conditions are derived under which successful collision avoidance is mathematically proved, and the theoretical results are supported by simulations. The proposed algorithm makes only limited sensing requirements of the vehicle. It is intuitive, has a low computational complexity and is suitable also for vehicles with a limited speed envelope or heavy linear acceleration constraints. This is demonstrated by applying the algorithm to a vehicle with a constant forward speed.

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“…For this reason, guidance laws are typically stated at a kinematic level, only considering the fundamental geometric aspects of the scenarios of interest. In what follows, three missile guidance techniques applicable to target-tracking scenarios are presented, and the material is adapted from (Breivik and Fossen, 2008).…”

Section: Guidance Systemmentioning

confidence: 99%

“…Little seems to be reported about tracking of target points for which only instantaneous motion information is available. However, in (Breivik and Fossen, 2008), both apriori and non-apriori scenarios are considered, and all the motion control objectives are given as work-space tasks. Thus, the scenarios cover more broadly, and are also suited for underactuated vehicles.…”

Section: Motion Control Scenariosmentioning

confidence: 99%

Straight-Line Target Tracking for Unmanned Surface Vehicles

Breivik¹,

Hovstein²,

Fossen³

2008

MIC

Self Cite

169

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This paper considers the subject of straight-line target tracking for unmanned surface vehicles (USVs). Target-tracking represents motion control scenarios where no information about the target behavior is known in advance, i.e., the path that the target traverses is not defined apriori. Specifically, this work presents the design of a motion control system which enables an underactuated USV to track a target that moves in a straight line at high speed. The motion control system employs a guidance principle originally developed for interceptor missiles, as well as a novel velocity controller inspired by maneuverability and agility concepts found in fighter aircraft literature. The performance of the suggested design is illustrated through full-scale USV experiments in the Trondheimsfjord.

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Guidance laws for planar motion control

Cited by 65 publications

References 20 publications

Leader–Follower Synchronisation for a Class of Underactuated Systems

Leader–Follower Synchronisation for a Class of Underactuated Systems

A reactive collision avoidance algorithm for nonholonomic vehicles

Straight-Line Target Tracking for Unmanned Surface Vehicles

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