On the design of an obstacle avoiding trajectory: Method and simulation

Claudiu Pozna, Fritz Troester, Radu Emil Precup, József K. Tar, Stefan Preitl

Research output: Contribution to journalArticle

59 Citations (Scopus)

Abstract

The paper suggests a new mathematical construction for the potential field used in the design of obstacle avoiding trajectories. The main benefits of the proposed construction are the quickness of minimum computation and the compensation for the main drawbacks specific to the "traditional approaches" belonging to the potential field method in general. The potential field definition and its minimum computation concept are presented. Next the concept is included in a design method for obstacle avoiding trajectories. The method is expressed in the form of an algorithm for obstacle avoidance. In the following step a state-space controller is designed in order to control the car along that trajectory. Digital simulation results obtained for the complete dynamic model of a car well validate the method.

Original languageEnglish
Pages (from-to)2211-2226
Number of pages16
JournalMathematics and Computers in Simulation
Volume79
Issue number7
DOIs
Publication statusPublished - Mar 2009

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Keywords

  • Control
  • Obstacle avoiding trajectory
  • Potential field
  • Simulation
  • Trajectory design

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)
  • Numerical Analysis
  • Modelling and Simulation
  • Applied Mathematics

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