Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field
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 essentia...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/19/1/31 |
| _version_ | 1828348120072716288 |
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| author | Xiaohua Wang Yan Liang Shun Liu Linfeng Xu |
| author_facet | Xiaohua Wang Yan Liang Shun Liu Linfeng Xu |
| author_sort | Xiaohua Wang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-14T00:49:47Z |
| format | Article |
| id | doaj.art-73b7c23b38c7480f98bee00387d06db5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T00:49:47Z |
| publishDate | 2018-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-73b7c23b38c7480f98bee00387d06db52022-12-22T02:21:50ZengMDPI AGSensors1424-82202018-12-011913110.3390/s19010031s19010031Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential FieldXiaohua Wang0Yan Liang1Shun Liu2Linfeng Xu3School of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaThis 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.http://www.mdpi.com/1424-8220/19/1/31path planningobstacle avoidanceunknown input observer |
| spellingShingle | Xiaohua Wang Yan Liang Shun Liu Linfeng Xu Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field Sensors path planning obstacle avoidance unknown input observer |
| title | Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field |
| title_full | Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field |
| title_fullStr | Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field |
| title_full_unstemmed | Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field |
| title_short | Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field |
| title_sort | bearing only obstacle avoidance based on unknown input observer and angle dependent artificial potential field |
| topic | path planning obstacle avoidance unknown input observer |
| url | http://www.mdpi.com/1424-8220/19/1/31 |
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