dc.contributor.author | Syre Wiig, Martin | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Savkin, Andrey | |
dc.date.accessioned | 2018-03-13T12:48:04Z | |
dc.date.available | 2018-03-13T12:48:04Z | |
dc.date.created | 2018-01-15T11:03:10Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | IEEE Conference on Control Technology and Applications. 2017, . | nb_NO |
dc.identifier.issn | 1066-033X | |
dc.identifier.uri | http://hdl.handle.net/11250/2490311 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.subject | Kollisjonsunngåelse | nb_NO |
dc.subject | Collision avoidance | nb_NO |
dc.subject | Robotics and Control | nb_NO |
dc.subject | Automation | nb_NO |
dc.title | A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.subject.nsi | VDP::Matematikk og naturvitenskap: 400 | nb_NO |
dc.subject.nsi | VDP::Mathematics and natural scienses: 400 | nb_NO |
dc.source.pagenumber | 8 | nb_NO |
dc.source.journal | IEEE Conference on Control Technology and Applications | nb_NO |
dc.identifier.doi | 10.1109/CCTA.2017.8062714 | |
dc.identifier.cristin | 1542630 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2017 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. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |