A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles

Author
Syre Wiig, Martin
Pettersen, Kristin
Krogstad, Thomas Røbekk
Date Issued
2019-01-21
Keywords
Styresystemer
Autonome undervannsfarkoster
Droner
Ubemannede systemer
Autonomi
Reguleringsteori
Permalink
http://hdl.handle.net/123456789/94690
http://hdl.handle.net/20.500.12242/2615
DOI
10.1109/CDC.2018.8619685
Collection
Articles
Description
Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk. A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. I E E E Conference on Decision and Control. Proceedings 2019 ;Volum 2018-December. s. 1997-2004 FFI NTNU
1703958.pdf
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Abstract
This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of the vehicle’s velocity vector. This vector is made to point a constant avoidance angle away from the obstacle, thus ensuring collision avoidance, while the forward speed is kept constant to maintain maneuverability. We choose an optimal pair of desired heading and pitch angles during the maneuver, thus taking advantage of the flexibility provided by operating in 3D. The algorithm incorporates limits on both the allowed pitch angle and the control inputs, which are limits that often are present in practical scenarios. Finally, we provide a mathematical proof that the collision avoidance maneuver is safe, and support the analysis through several simulations.
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