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dc.contributor.authorSyre Wiig, Martin
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorKrogstad, Thomas Røbekk
dc.date.accessioned2019-03-29T07:46:28Z
dc.date.available2019-03-29T07:46:28Z
dc.date.created2019-01-10T09:38:24Z
dc.date.issued2018
dc.identifier.isbn9781538676974
dc.identifier.urihttp://hdl.handle.net/11250/2592312
dc.description.abstractThis 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.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartof2nd IEEE Conference on Control Technology and Applications
dc.titleA 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehiclesnb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.identifier.doi10.1109/CCTA.2018.8511437
dc.identifier.cristin1653744
dc.relation.projectNorges forskningsråd: 223254nb_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.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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