典型文献
Extended dynamic system modulation for real-time obstacle avoidance
文献摘要：
In this paper,a novel real-time obstacle avoidance method based on Dynamic System(DS),is proposed.The proposed method ensures the impenetrability of multiple convex obstacles by online modulating the original velocity field of the DS.It can be applied to perform obstacle avoidance in the state space of the DS with both autonomous and non-autonomous DS-based con-trollers.While realizing the obstacle avoidance,the equilibrium points of the original DS can be saved.The modulation matrix form is extended based on the earlier dynamic system modulation methods of the literature.The asymmetric modulation provided by this method allows the modu-lated DS to satisfy the dynamic constraints of a class of DSs.In addition,the proposed method has the inherent ability of multiple-obstacle avoidance and the direction selectivity of avoidance maneu-ver.Moreover,to solve the simultaneous guidance and obstacle avoidance problem,a guidance law for Unmanned Aerial Vehicles(UAVs)based on the proposed method,is designed.Finally,a numerical simulation is performed to analyze the performance of the proposed method and the obstacle avoidance guidance law.
文献关键词：
中图分类号：
作者姓名：
Zhide ZHANG;Zhengjie WANG;Jin YU
作者机构：
School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China
文献出处：
引用格式：
[1]Zhide ZHANG;Zhengjie WANG;Jin YU-.Extended dynamic system modulation for real-time obstacle avoidance)[J].中国航空学报（英文版）,2022(12):212-225
A类：
impenetrability,trollers,DSs,maneu
B类：
Extended,dynamic,system,modulation,avoidance,In,this,paper,novel,Dynamic,System,proposed,ensures,multiple,convex,obstacles,by,online,modulating,original,velocity,field,It,can,be,applied,state,space,both,autonomous,While,realizing,equilibrium,points,saved,matrix,extended,earlier,methods,literature,asymmetric,provided,allows,lated,satisfy,constraints,class,addition,has,inherent,direction,selectivity,Moreover,solve,simultaneous,guidance,problem,law,Unmanned,Aerial,Vehicles,UAVs,designed,Finally,numerical,simulation,performed,analyze,performance
AB值：
0.425415
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
