A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles

被引：0
|
作者：
Wiig, Martin S. [1 ,2 ]
Pettersen, Kristin Y. [1 ,2 ]
Savkin, Andrey V. [3 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst NTNU AMOS, N-7491 Trondheim, Norway
[2] Norwegian Def Res Estab FFI, POB 25, N-2027 Kjeller, Norway
[3] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017) | 2017年
基金：
澳大利亚研究理事会;
关键词：
OBSTACLE AVOIDANCE; MOBILE ROBOTS; DYNAMIC ENVIRONMENTS; MOVING OBSTACLES; FREE NAVIGATION; PATH;
D O I：
暂无
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 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 time-varying. 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.
引用
收藏
页码：1776 / 1783
页数：8
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