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Guaranteed Collision Avoidance for Autonomous Systems with Acceleration Constraints and Sensing Uncertainties

Author

Listed:
  • Erick J. Rodríguez-Seda

    (U.S. Naval Academy)

  • Dušan M. Stipanović

    (University of Illinois)

  • Mark W. Spong

    (University of Texas)

Abstract

A set of cooperative and noncooperative collision avoidance strategies for a pair of interacting agents with acceleration constraints, bounded sensing uncertainties, and limited sensing ranges is presented. We explicitly consider the case in which position information from the other agent is unreliable, and develop bounded control inputs using Lyapunov-based analysis, that guarantee collision-free trajectories for both agents. The proposed avoidance control strategies can be appended to any other stable control law (i.e., main control objective) and are active only when the agents are close to each other. As an application, we study in detail the synthesis of the avoidance strategies with a set-point stabilization control law and prove that the agents converge to the desired configurations while avoiding collisions and deadlocks (i.e., unwanted local minima). Simulation results are presented to validate the proposed control formulation.

Suggested Citation

  • Erick J. Rodríguez-Seda & Dušan M. Stipanović & Mark W. Spong, 2016. "Guaranteed Collision Avoidance for Autonomous Systems with Acceleration Constraints and Sensing Uncertainties," Journal of Optimization Theory and Applications, Springer, vol. 168(3), pages 1014-1038, March.
    • Handle: RePEc:spr:joptap:v:168:y:2016:i:3:d:10.1007_s10957-015-0824-7
    DOI: 10.1007/s10957-015-0824-7
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    References listed on IDEAS

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    1. T. Tarnopolskaya & N. Fulton, 2010. "Synthesis of Optimal Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Turn Capabilities," Journal of Optimization Theory and Applications, Springer, vol. 144(2), pages 367-390, February.
    2. H. Gonzalez & E. Polak, 2010. "On the Perpetual Collision-Free RHC of Fleets of Vehicles," Journal of Optimization Theory and Applications, Springer, vol. 145(1), pages 76-92, April.
    3. T. Tarnopolskaya & N. Fulton & H. Maurer, 2012. "Synthesis of Optimal Bang–Bang Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Linear Speeds," Journal of Optimization Theory and Applications, Springer, vol. 155(1), pages 115-144, October.
    4. E. Pawłuszewicz & D. F. M. Torres, 2010. "Avoidance Control on Time Scales," Journal of Optimization Theory and Applications, Springer, vol. 145(3), pages 527-542, June.
    5. A. Miele & T. Wang, 2006. "Optimal Trajectories and Guidance Schemes for Ship Collision Avoidance," Journal of Optimization Theory and Applications, Springer, vol. 129(1), pages 1-21, April.
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    Cited by:

    1. Chuan Sun & Sifa Zheng & Yulin Ma & Duanfeng Chu & Junru Yang & Yuncheng Zhou & Yicheng Li & Tingxuan Xu, 2021. "An active safety control method of collision avoidance for intelligent connected vehicle based on driving risk perception," Journal of Intelligent Manufacturing, Springer, vol. 32(5), pages 1249-1269, June.

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