Obstacle avoidance control for PVTOLs based on a virtual space approach

Tomoaki Kobayashi; Atsushi Ueda; Joe Imae; Guisheng Zhai

doi:10.1109/ICNSC.2009.4919394

Obstacle avoidance control for PVTOLs based on a virtual space approach

Tomoaki Kobayashi, Atsushi Ueda, Joe Imae, Guisheng Zhai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the 'virtual space' approach, we formulate the obstacle avoidance problem as an unconstrained optimal control problem. We design a transform function for making an unconstrained virtual space. The model of the PVTOL aircraft is represented as a descriptor form. Then, we propose a solution to the descriptor form. The effectiveness of our approach is confirmed by numerical experiments.

Original language	English
Title of host publication	Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages	868-872
Number of pages	5
DOIs	https://doi.org/10.1109/ICNSC.2009.4919394
Publication status	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan Duration: 2009 Mar 26 → 2009 Mar 29

Publication series

Name	Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Country/Territory	Japan
City	Okayama
Period	09/3/26 → 09/3/29

Keywords

Constrained optimal control
Obstacle avoidance
PVTOL aircraft
Variable transformation

ASJC Scopus subject areas

Computer Networks and Communications
Electrical and Electronic Engineering

Access to Document

10.1109/ICNSC.2009.4919394

Cite this

Kobayashi, T., Ueda, A., Imae, J., & Zhai, G. (2009). Obstacle avoidance control for PVTOLs based on a virtual space approach. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 868-872). [4919394] (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919394

Obstacle avoidance control for PVTOLs based on a virtual space approach. / Kobayashi, Tomoaki; Ueda, Atsushi; Imae, Joe et al.

Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 868-872 4919394 (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, T, Ueda, A, Imae, J & Zhai, G 2009, Obstacle avoidance control for PVTOLs based on a virtual space approach. in Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009., 4919394, Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, pp. 868-872, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, Japan, 09/3/26. https://doi.org/10.1109/ICNSC.2009.4919394

Kobayashi T, Ueda A, Imae J, Zhai G. Obstacle avoidance control for PVTOLs based on a virtual space approach. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 868-872. 4919394. (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). doi: 10.1109/ICNSC.2009.4919394

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abstract = "In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the 'virtual space' approach, we formulate the obstacle avoidance problem as an unconstrained optimal control problem. We design a transform function for making an unconstrained virtual space. The model of the PVTOL aircraft is represented as a descriptor form. Then, we propose a solution to the descriptor form. The effectiveness of our approach is confirmed by numerical experiments.",

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AB - In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the 'virtual space' approach, we formulate the obstacle avoidance problem as an unconstrained optimal control problem. We design a transform function for making an unconstrained virtual space. The model of the PVTOL aircraft is represented as a descriptor form. Then, we propose a solution to the descriptor form. The effectiveness of our approach is confirmed by numerical experiments.

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Obstacle avoidance control for PVTOLs based on a virtual space approach

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Keywords

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