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A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles

Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey
Journal article, Peer reviewed
Accepted version
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Åpne
ReactiveCollisionAvoidanceForNonholonomicVehicles.pdf (1.065Mb)
Permanent lenke
http://hdl.handle.net/11250/2490311
Utgivelsesdato
2017
Metadata
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  • Institutt for teknisk kybernetikk [2277]
  • Publikasjoner fra CRIStin - NTNU [21889]
Originalversjon
IEEE Conference on Control Technology and Applications. 2017, .   10.1109/CCTA.2017.8062714
Sammendrag
This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The algorithm compensates for the obstacle velocity, which can be timevarying. Conditions are derived under which successful collision avoidance is mathematically proved, and the theoretical results are supported by simulations. The proposed algorithm makes only limited sensing requirements of the vehicle. It is intuitive, has a low computational complexity and is suitable also for vehicles with a limited speed envelope or heavy linear acceleration constraints. This is demonstrated by applying the algorithm to a vehicle with a constant forward speed.
Utgiver
Institute of Electrical and Electronics Engineers (IEEE)
Tidsskrift
IEEE Conference on Control Technology and Applications

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