Title :
Decentralized reactive collision avoidance for multivehicle systems
Author :
Lalish, Emmett ; Morgansen, Kristi A.
Author_Institution :
Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA
Abstract :
This paper addresses a novel approach to the n-vehicle collision avoidance problem. The vehicle model used is a planar unicycle, chosen for its wide applicability to ground, sea, and air vehicles. This paper generalizes previous work with constant-speed vehicles to models that include the ability to slow down, stop and reverse. An algorithm is developed that works in conjunction with any desired controller to guarantee all vehicles remain free of collisions while attempting to follow their desired control. This algorithm is reactive and decentralized, making it well suited for real time applications, and explicitly accounts for actuation limits. Results are demonstrated in simulation.
Keywords :
collision avoidance; decentralised control; mobile robots; remotely operated vehicles; air vehicle; decentralized reactive collision avoidance; ground vehicle; multivehicle systems; sea vehicle; Air traffic control; Aircraft; Collision avoidance; Control systems; Land vehicles; Mobile robots; Remotely operated vehicles; Road vehicles; Unmanned aerial vehicles; Vehicle safety;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738894