TY - GEN
T1 - An optimal time strategy for collision avoidance between collaborative agents
AU - Belkhouche, F.
N1 - Publisher Copyright:
© 2017 American Automatic Control Council (AACC).
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/6/29
Y1 - 2017/6/29
N2 - 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.
AB - 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.
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U2 - 10.23919/ACC.2017.7963136
DO - 10.23919/ACC.2017.7963136
M3 - Conference contribution
AN - SCOPUS:85027048812
T3 - Proceedings of the American Control Conference
SP - 1328
EP - 1333
BT - 2017 American Control Conference, ACC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 American Control Conference, ACC 2017
Y2 - 24 May 2017 through 26 May 2017
ER -