A Harmonic Potential, Space-Time Navigation Control with Obstacle Forecast, Avoidance and Guaranteed Time of Arrival

Autor:	Ahmad A. Masoud
Rok vydání:	2021
Předmět:	Harmonic analysis Nonlinear system Time of arrival Spacetime Control theory Computer science Space time Trajectory Action (physics)
Zdroj:	ACC
DOI:	10.23919/acc50511.2021.9482955
Popis:	This paper suggests a novel space-time (ND+t) provably-correct navigation controller for dynamical agents. The controller can steer an agent to a target point along a safe and well-behaved trajectory in a cluttered space while guaranteeing an operator-specified time of arrival. The spacetime control action is induced from harmonic fields called nonlinear anisotropic harmonic fields that are defined on Machian state space-time. The approach is developed and its capabilities are verified theoretically and by simulation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::5369f21d77fa4847067cfd27bd0a5dc6 https://doi.org/10.23919/acc50511.2021.9482955 Zobrazit plný text záznamu