A novel extended potential field controller for use on aerial robots

Woods, AC; Lay, HM; Ha, QP

A novel extended potential field controller for use on aerial robots

Woods, AC Lay, HM Ha, QP

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Automation Science and Engineering, 2016, 2016-November pp. 286 - 291
Issue Date:: 2016-11-14

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Field	Value	Language
dc.contributor.author	Woods, AC	en_US
dc.contributor.author	Lay, HM	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2016-11-14	en_US
dc.identifier.citation	IEEE International Conference on Automation Science and Engineering, 2016, 2016-November pp. 286 - 291	en_US
dc.identifier.isbn	9781509024094	en_US
dc.identifier.issn	2161-8070	en_US
dc.identifier.uri	http://hdl.handle.net/10453/83172
dc.description.abstract	© 2016 IEEE. Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.	en_US
dc.relation.ispartof	IEEE International Conference on Automation Science and Engineering	en_US
dc.relation.isbasedon	10.1109/COASE.2016.7743420	en_US
dc.title	A novel extended potential field controller for use on aerial robots	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-November	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	2016-November	en_US

Abstract:

© 2016 IEEE. Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

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http://hdl.handle.net/10453/83172