MyJournals Home  

RSS FeedsSensors, Vol. 19, Pages 31: Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field (Sensors)

 
 

23 december 2018 00:00:12

 
Sensors, Vol. 19, Pages 31: Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field (Sensors)
 




This paper presents the problem of obstacle avoidance with bearing-only measurements in the case that the obstacle motion is model-free, i.e., its acceleration is absolutely unknown, which cannot be dealt with by the mainstream Kalman-like schemes based on the known motion model. First, the essential reason of the collision caused by local minimum problem in the standard artificial potential field method is proved, and hence a revised method with angle dependent factor is proposed. Then, an unknown input observer is proposed to estimate the position and velocity of the obstacle. Finally, the numeric simulation demonstrates the effectiveness in terms of estimation accuracy and terminative time.


Del.icio.us Digg Facebook Google StumbleUpon Twitter
 
26 viewsCategory: Chemistry, Physics
 
Sensors, Vol. 19, Pages 32: Cost-Effective Edge Server Placement in Wireless Metropolitan Area Networks (Sensors)
Sensors, Vol. 19, Pages 30: Integrated Performance Evaluation of the Smart Body Area Networks Physical Layer for Future Medical and Healthcare IoT (Sensors)
 
 
blog comments powered by Disqus


MyJournals.org
The latest issues of all your favorite science journals on one page

Username:
Password:

Register | Retrieve

Search:

Physics

Use these buttons to bookmark us:
Del.icio.us Digg Facebook Google StumbleUpon Twitter


Valid HTML 4.01 Transitional
Copyright © 2008 - 2019 Indigonet Services B.V.. Contact: Tim Hulsen. Read here our privacy notice.
Other websites of Indigonet Services B.V.: Nieuws Vacatures News Tweets Travel Photos Nachrichten Indigonet Finances Leer Mandarijn