Work

A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles

Year: 2018

Type: conference-paper

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.

Source: IEEE Conference on Control Technology and Applications (CCTA)

DOI: 10.1109/ccta.2018.8511437

Authors: Martin S. Wiig, Kristin Y. Pettersen, Thomas R. Krogstad

Institution: Norwegian Defence Research Establishment

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4240065741

FWCI: 1.394

Cites: 23

Cited by: 6

Related to: 10