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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Vydané v:	Control Technology and Applications (Online) s. 46 - 52
Hlavní autori:	Haraldsen, Aurora, Wiig, Martin S., Pettersen, Kristin Y.
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 16.08.2023
Predmet:	Behavioral sciences Collision avoidance Heuristic algorithms Minimally invasive surgery mobile robots nonholonomic systems reactive algorithms Robots Safety Vehicle dynamics
ISSN:	2768-0770
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