I. Prodan, Stoican, F., and Grotli, E., “
Some remarks on potential field constructions in a multi-obstacle environment”, in
10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, 2016.
AbstractThis paper addresses a novel combination between mixed-integer representations and potential field constructions for typical multi-agent marine control problems. First, we prove that for any kind of repulsive functions applied over a function which we denote as sum function, the feasible domain is piece-wise affine (PWA). Next, concepts like hyperplane arrangements together with potential field approaches are used for providing an efficient description of the feasible non-convex domain. This combination offers an original and beneficent computation of control laws under non-convex constraints. Simulation results over a common application of obstacle avoidance, which can be extended for unmanned surface vehicles, prove the effectiveness of the proposed approach.
F. Stoican, Ivanusca, V. - M., Prodan, I., and Popescu, D., “
Obstacle avoidance via B-spline parametrizations of flat trajectories”, in
24th Mediterranean Conference on Control and Automation (MED), Athens, Greece, 2016.
AbstractThis paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can be validated at all times. Exact and sub-optimal constructions of the collision avoidance optimization problem are provided. The results are validated through extensive simulations over standard autonomous aerial vehicle dynamics.