dc.contributor.author | Haraldsen, Aurora | |
dc.contributor.author | Syre Wiig, Martin | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2023-11-15T13:59:19Z | |
dc.date.available | 2023-11-15T13:59:19Z | |
dc.date.created | 2023-10-01T17:23:24Z | |
dc.date.issued | 2023 | |
dc.identifier.citation | Proceedings of the 2023 IEEE Conference on Control Technology and Applications (CCTA) | en_US |
dc.identifier.isbn | 979-8-3503-3544-6 | |
dc.identifier.uri | https://hdl.handle.net/11250/3102765 | |
dc.description.abstract | Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally advantageous collision cone concept, for unicycles which may be subject to strict input constraints and dynamic, non-compliant obstacles which may even actively pursue a collision. The paper presents both a theoretical analysis together with experiments demonstrating the beneficial features of the algorithm. We analytically derive explicit, and practically intuitive, conditions on the control parameters, under which safety is guaranteed. Experiments illustrate the safe, intuitive, and minimally invasive behaviors generated by the proposed algorithm. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | Proceedings of the 2023 IEEE Conference on Control Technology and Applications (CCTA) | |
dc.title | Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments * | en_US |
dc.title.alternative | Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments * | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.pagenumber | 46-52 | en_US |
dc.identifier.doi | 10.1109/CCTA54093.2023.10253362 | |
dc.identifier.cristin | 2180699 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |