Some remarks on potential field constructions in a multi-obstacle environment. Issue 23 (2016)

• Record Type: Journal Article
• Authors: Prodan, Ionela; Stoican, Florin; Grøtli, Esten Ingar
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 23(2016)
• Page Start: 28
• Page End: 33
• Publication Date: 2016
• Subjects: Obstacle avoidance -- Potential field -- Mixed integer programming -- Autonomous vehicles; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.317
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This 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.