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dc.contributor.authorHaraldsen, Auroraen_GB
dc.contributor.authorSyre Wiig, Martinen_GB
dc.contributor.authorPettersen, Kristin Ytterstaden_GB
dc.date.accessioned2021-09-10T15:24:35Z
dc.date.accessioned2022-01-31T13:09:11Z
dc.date.available2021-09-10T15:24:35Z
dc.date.available2022-01-31T13:09:11Z
dc.date.issued2021-11-01
dc.identifier.citationHaraldsen A, Syre Wiig MSW, Pettersen KY. Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine. 2021en_GB
dc.identifier.urihttp://hdl.handle.net/20.500.12242/2975
dc.descriptionHaraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine 2021 ;Volum 54.(14) s. 155-160en_GB
dc.description.abstractOver the recent years, there has been an increasing interest in autonomous systems. Consequently, the problem of avoiding static and dynamic obstacles without human interference has gained a lot of attention. Avoiding collision, even in completely static environments, is significantly more challenging when the vehicle is subject to nonholonomic constraints. This paper presents a reactive algorithm for collision avoidance of dynamic, arbitrarily shaped obstacles, which is suitable for unicycle-type, nonholonomic vehicles. Unlike most reactive methods, we consider the exact shape of the obstacle, which allows the vehicle to utilize any space that is not occupied by the obstacle. This is an advantage over circle and ellipse approximations, as they can lead to overly conservative maneuvers. We provide explicit conditions under which collision avoidance is mathematically proven and validate the analysis by numerical simulations.en_GB
dc.language.isoenen_GB
dc.subjectAutonomien_GB
dc.subjectAutonome bileren_GB
dc.subjectKollisjonsunngåelseen_GB
dc.titleReactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shapeen_GB
dc.typeArticleen_GB
dc.date.updated2021-09-10T15:24:35Z
dc.identifier.cristinID1933360
dc.identifier.doi10.1016/j.ifacol.2021.10.345
dc.source.issn2405-8963
dc.type.documentJournal article
dc.relation.journalIFAC-PapersOnLine


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