An optimal time strategy for collision avoidance between collaborative agents

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


Safety plays an important role in mobile robotics where it is crucial to detect and avoid collisions between objects and robots moving in dynamic environments. Several approaches have been suggested to address the issue. In this paper, we consider a collaborative approach for collision avoidance based on the optimal time to resolve a conflict. First, the collision conditions are derived with an estimation of the time to collision. Then the maneuvers to resolve the conflict in minimum time are calculated using a constrained optimization approach. Lagrangian function is constructed and used under the safety constraints to find the closed from optimal solutions for the safe speeds. A comparison is carried out in terms of the control effort and the time to resolve the conflict. Simulation is used to illustrate the method.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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