dc.contributor.author | Syre Wiig, Martin | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Krogstad, Thomas Røbekk | |
dc.date.accessioned | 2019-03-29T07:46:28Z | |
dc.date.available | 2019-03-29T07:46:28Z | |
dc.date.created | 2019-01-10T09:38:24Z | |
dc.date.issued | 2018 | |
dc.identifier.isbn | 9781538676974 | |
dc.identifier.uri | http://hdl.handle.net/11250/2592312 | |
dc.description.abstract | This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle to the obstacle, thus ensuring a safe collision avoidance maneuver. The flexibility provided by moving in three dimensions is utilized by choosing an optimal pair of safe pitch and heading angles for avoidance. Furthermore, the algorithm incorporates limits on the allowed pitch angle, which are often present in practical scenarios. The collision avoidance property is mathematically proved, and the analysis is validated by several numerical simulations. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 2nd IEEE Conference on Control Technology and Applications | |
dc.title | A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.1109/CCTA.2018.8511437 | |
dc.identifier.cristin | 1653744 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2018 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 | |