Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments

Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally advantageous collision cone concept, for unicycles which may be subject to strict input constraints and dynamic, non-compliant obstacles which...

Full description

Saved in:
Bibliographic Details
Published in:Control Technology and Applications (Online) pp. 46 - 52
Main Authors: Haraldsen, Aurora, Wiig, Martin S., Pettersen, Kristin Y.
Format: Conference Proceeding
Language:English
Published: IEEE 16.08.2023
Subjects:
Behavioral sciences
Collision avoidance
Heuristic algorithms
Minimally invasive surgery
mobile robots
nonholonomic systems
reactive algorithms
Robots
Safety
Vehicle dynamics
ISSN:2768-0770
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Abstract Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally advantageous collision cone concept, for unicycles which may be subject to strict input constraints and dynamic, non-compliant obstacles which may even actively pursue a collision. The paper presents both a theoretical analysis together with experiments demonstrating the beneficial features of the algorithm. We analytically derive explicit, and practically intuitive, conditions on the control parameters, under which safety is guaranteed. Experiments illustrate the safe, intuitive, and minimally invasive behaviors generated by the proposed algorithm.
AbstractList Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally advantageous collision cone concept, for unicycles which may be subject to strict input constraints and dynamic, non-compliant obstacles which may even actively pursue a collision. The paper presents both a theoretical analysis together with experiments demonstrating the beneficial features of the algorithm. We analytically derive explicit, and practically intuitive, conditions on the control parameters, under which safety is guaranteed. Experiments illustrate the safe, intuitive, and minimally invasive behaviors generated by the proposed algorithm.
Author Pettersen, Kristin Y.
Wiig, Martin S.
Haraldsen, Aurora
Author_xml – sequence: 1
  givenname: Aurora
  surname: Haraldsen
  fullname: Haraldsen, Aurora
  email: Aurora.Haraldsen@ntnu.no
  organization: Norwegian University of Science and Technology,Department of Engineering Cybernetics,Trondheim,Norway
– sequence: 2
  givenname: Martin S.
  surname: Wiig
  fullname: Wiig, Martin S.
  email: Martin-Syre.Wiig@ffi.no
  organization: Norwegian Defence Research Establishment,Kjeller,Norway
– sequence: 3
  givenname: Kristin Y.
  surname: Pettersen
  fullname: Pettersen, Kristin Y.
  email: Kristin.Y.Pettersen@ntnu.no
  organization: Norwegian University of Science and Technology,Department of Engineering Cybernetics,Trondheim,Norway
BookMark eNo1kM1OwzAQhA0CiVLyBkj4BRLWdhLH3KJQfqSKXgLXynE2xCi1q7ig5u0JAk4zGn2a1c4lOXPeISE3DBLGQN1WVV1mKSiRcOAiYcAzIXJ-QiIlVSEyECJL0_yULLjMixikhAsShfABAIKDUJIvSHM_Ob2zhm6acNBmQFp-edtqZ5B2fqQv3vV-8M7_MG_Y2xkJ9DNY904rPww2WO9m5zDc0bpHP05Uu5aujnsc7Q7dIVyR804PAaM_XZLXh1VdPcXrzeNzVa5jy5g6xJ3KlU4RQUgmUeVNwaCFrsVMF7LhrTJzrDEv0HBgM2DSzPAmbUFq7Obfl-T6t9ci4nY_X9fjtP2fRXwDBAJaZg
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/CCTA54093.2023.10253362
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 9798350335446
EISSN 2768-0770
EndPage 52
ExternalDocumentID 10253362
Genre orig-research
GroupedDBID 6IE
6IF
6IL
6IN
AAWTH
ABLEC
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
OCL
RIE
RIL
ID FETCH-LOGICAL-i119t-f969a4ee03717e96b810d0fde5a87b2d9c17eae68ec201e96c45c2b4d07aef253
IEDL.DBID RIE
IngestDate Wed Aug 27 02:50:49 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i119t-f969a4ee03717e96b810d0fde5a87b2d9c17eae68ec201e96c45c2b4d07aef253
PageCount 7
ParticipantIDs ieee_primary_10253362
PublicationCentury 2000
PublicationDate 2023-Aug.-16
PublicationDateYYYYMMDD 2023-08-16
PublicationDate_xml – month: 08
  year: 2023
  text: 2023-Aug.-16
  day: 16
PublicationDecade 2020
PublicationTitle Control Technology and Applications (Online)
PublicationTitleAbbrev CCTA
PublicationYear 2023
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0003203972
Score 1.8416948
Snippet Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally...
SourceID ieee
SourceType Publisher
StartPage 46
SubjectTerms Behavioral sciences
Collision avoidance
Heuristic algorithms
Minimally invasive surgery
mobile robots
nonholonomic systems
reactive algorithms
Robots
Safety
Vehicle dynamics
Title Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments
URI https://ieeexplore.ieee.org/document/10253362
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwELagYmACRBFveWBNsR3Hjtmq0oqpdCioW-XHBbqkqK_fz9lpixgY2CwrVhyfct_pfN99hDwUWpZW8iozrvSZLAqPfjDozCHY5cbqnFcsiU3o4bCcTMxoS1ZPXBgASMVn0InDdJcf5n4dU2X4hwuMTqLHPdRaNWStfUIlFwyxVWxruDgzj73euIsBick7USO8s1v9S0clwcjg5J8bOCXtH0IeHe2h5owcQH1O3HOjJk9fHYZ4aH7a3cxnIZqRYihKh_M6urbEO6bv8JkK4GgsdP-gMV-QWOU4Qmf3RBuOPrV1oP190_9lm7wN-uPeS7aVTMhmnJtVVhllrASIjfg0GOVKzgKrAhS21E4E43HagirBI_LjA14WXjgZmLZQ4cddkFaN772MZG6obM6CdbaU3hqnhNMiSCgqLhQUV6QdD2j61XTFmO7O5vqP-RtyHM0Q87Fc3ZLWarGGO3LkN6vZcnGfbPkNi1qhMQ
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwELZQQYIJEEW88cCaYjt2HLNVpVURJXQoqFvlxwW6tKiv34_ttEUMDGyWlSiJz77vdLnvPoTuhOS55rRMlMltwoWw3g86mRgPdqnSMqUliWITsijy4VD112T1yIUBgFh8Bo0wjP_y3dQuQ6rMn3Dmo5PgcXcF54xUdK1tSiVlxKMrW1dxUaLuW61B04ckKm0ElfDG5v5fSioRSDqH_3yFI1T_oeTh_hZsjtEOTE6Qeaz05PGr8UGe3wC4uZqOXTAk9sEoLqaT4Nwi8xi_w2csgcOh1P0Dh4xB5JX7kXd3D7hi6WM9cbi9bfs_r6O3TnvQ6iZr0YRkTKlaJKXKlOYAoRWfBJWZnBJHSgdC59Iwp6yf1pDlYD32-wssF5YZ7ojUUPqPO0W1iX_uWaBzQ6lT4rTRObdamYwZyRwHUVKWgThH9bBAo6-qL8ZoszYXf8zfov3u4KU36j0Vz5foIJgkZGdpdoVqi9kSrtGeXS3G89lNtOs3GmekeA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=Control+Technology+and+Applications+%28Online%29&rft.atitle=Dynamic+Obstacle+Avoidance+for+Nonholonomic+Vehicles+using+Collision+Cones%3A+Theory+and+Experiments&rft.au=Haraldsen%2C+Aurora&rft.au=Wiig%2C+Martin+S.&rft.au=Pettersen%2C+Kristin+Y.&rft.date=2023-08-16&rft.pub=IEEE&rft.eissn=2768-0770&rft.spage=46&rft.epage=52&rft_id=info:doi/10.1109%2FCCTA54093.2023.10253362&rft.externalDocID=10253362