Authors V.Kh. Pshikhopov, M.Yu. Medvedev
Month, Year 01-02, 2017 @en
Index UDC 681.513.66
Abstract The article considers the problem of control vehicle in the uncertain three-dimensional envi-ronment with moving and fixed obstacles. Two level control system is proposed. The high level is responsible for the path planning. The low level is responsible for development of a given trajectory. The problem of path planning is divided into a planning task and practicing global trajectories of missions and the problem of local planning obstacles. The global trajectory planning is based on a priori information about the environment and the starting and ending points of the path. Local trajectory corrects the global path in case of obstacles that are missing from the map. Proposed control system carrying out performing of the global trajectory at the regulatory level, and bypass obstacles using the unstable modes. Also a hybrid system is developed. The hybrid system performs the obstacle avoidance by the use of unstable modes on the lower level. On the upper level of the hybrid system an intelligent algorithm determines the desired direction of bypass. The analysis of ways of introducing unstable modes is developed. It is shown that the use of complex roots of the characteristic equation of the closed-loop system allows for movement in an unstable mode in a given direction. Procedure of the real and the imaginary parts of the roots calculation is proposed. This procedure depends on the initial conditions at the time of detection of obstacles. The results of numerical simulation on example control system of hexacopter are presented. The simulation is performed for the scene with a cylindrical moving obstacles and for complex scenes with moving and stationary obstacles of the type cylinder and the wall. It is shown that for complex scenes the effectiveness of the method based on the unstable modes is significantly lower than the efficiency of the hybrid method that uses a heuristic procedure determining the direction of movement of the movable object. In conclusion, comparative evaluation of the proposed method with existing methods and approaches is performed.

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Keywords Movement planning; vehicle; unstable mode; undetermined environment; hybrid control.
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