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    A Reactive Collision Avoidance Algorithm for Vehicles withUnderactuated Dynamics

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    1542619.pdf (2.271Mb)
    Date
    2017
    Author
    Syre Wiig, Martin
    Pettersen, Kristin Ytterstad
    Krogstad, Thomas Røbekk
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    Abstract
    This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we consider marine vehicles with underactuated sway dynamics, which cannot be directly controlled. This gives an underactuated component in the vehicle velocity, which the proposed algorithm is designed to compensate for. The algorithm furthermore compensates for the obstacle velocity. Conditions are derived under which the sway movement is bounded and collision avoidance is mathematically proved. The theoretical results are supported by simulations. The proposed algorithm makes only limited sensing requirements on the vehicle, is intuitive and suitable for a wide range of vehicles. This includes vehicles with heavy forward acceleration constraints, which is demonstrated by applying the algorithm to a vehicle with constant surge speed.
    URI
    http://hdl.handle.net/20.500.12242/844
    https://ffi-publikasjoner.archive.knowledgearc.net/handle/20.500.12242/844
    DOI
    10.1109/CDC.2017.8263858
    Description
    Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics. I E E E Conference on Decision and Control. Proceedings 2017 s. -
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