Decentralized reactive collision avoidance for multiple unicycle-type vehicles

被引：30

作者：

Lalish, Emmett ^{[1
]}

Morgansen, Kristi A. ^{[1
]}

Tsukamaki, Takashi ^{[2
]}

机构：

[1] Univ Washington, Dept Aeronaut & Astronaut, Box 352400, Seattle, WA 98195 USA

[2] Boeing Phantom Works, Seattle, WA USA

来源：

2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年

关键词：

D O I：

10.1109/ACC.2008.4587295

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses a novel approach to the n-vehicle collision avoidance problem. The vehicle model used is a planar constant-speed unicycle, chosen for its wide applicability to ground, sea, and air vehicles. An algorithm is developed which guarantees all vehicles remain free of collisions while attempting to attain their trajectory goals (given certain restrictions on their initial conditions). This controller is reactive and decentralized, making it well suited for real time applications, and explicitly accounts for actuation limits. Results are demonstrated in simulation.

引用

页码：5055 / +

页数：2

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