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...

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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
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