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

Ahmad A. Masoud

doi:10.23919/ACC50511.2021.9482955

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

Ahmad A. Masoud

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2021 American Control Conference, ACC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4237-4242
Number of pages	6
ISBN (Electronic)	9781665441971
DOIs	https://doi.org/10.23919/ACC50511.2021.9482955
State	Published - 25 May 2021

Publication series

Name	Proceedings of the American Control Conference
Volume	2021-May
ISSN (Print)	0743-1619

Bibliographical note

Publisher Copyright:
© 2021 American Automatic Control Council.

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/ACC50511.2021.9482955

Cite this

Masoud, A. A. (2021). A Harmonic Potential, Space-Time Navigation Control with Obstacle Forecast, Avoidance and Guaranteed Time of Arrival. In 2021 American Control Conference, ACC 2021 (pp. 4237-4242). Article 9482955 (Proceedings of the American Control Conference; Vol. 2021-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC50511.2021.9482955

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Masoud, AA 2021, A Harmonic Potential, Space-Time Navigation Control with Obstacle Forecast, Avoidance and Guaranteed Time of Arrival. in 2021 American Control Conference, ACC 2021., 9482955, Proceedings of the American Control Conference, vol. 2021-May, Institute of Electrical and Electronics Engineers Inc., pp. 4237-4242. https://doi.org/10.23919/ACC50511.2021.9482955

A Harmonic Potential, Space-Time Navigation Control with Obstacle Forecast, Avoidance and Guaranteed Time of Arrival. / Masoud, Ahmad A.
2021 American Control Conference, ACC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 4237-4242 9482955 (Proceedings of the American Control Conference; Vol. 2021-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

Abstract

Publication series

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this