Collision Avoidance in Multi-Vehicle Cooperative Missions using Speed Adjustment

被引：0

作者：

Mehdi, Syed Bilal ^{[1
,2
]}

Cichella, Venanzio ^{[1
,2
]}

Marinho, Thiago ^{[1
,2
]}

Hovakimyan, Naira ^{[1
,2
]}

机构：

[1] Univ Illinois, Mech Engn Dept, Urbana, IL 61801 USA

[2] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA

来源：

2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年

关键词：

VEHICLES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a speed adjustment method for avoiding obstacles during multi-vehicle cooperative missions. The algorithm assumes knowledge of a nominal trajectory for the obstacle and takes into account bounded deviations in the speed profile. Observing such changes, the algorithm varies the pace of the mission accordingly. Rigorous theoretical results guarantee that the collision is avoided under the cooperative mission scenario.

引用

页数：6

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