Collision avoidance in multi-vehicle cooperative missions using speed adjustment

Syed Bilal Mehdi; Venanzio Cichella; Thiago Marinho; Naira Hovakimyan

doi:10.1109/CDC.2017.8263963

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Conference proceeding

Collision avoidance in multi-vehicle cooperative missions using speed adjustment

Syed Bilal Mehdi, Venanzio Cichella, Thiago Marinho and Naira Hovakimyan

2017 IEEE 56th Annual Conference on Decision and Control (CDC), Vol.2018-, pp.2152-2157

12/2017

DOI: 10.1109/CDC.2017.8263963

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Abstract

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.

Protocols

Cost function

Boundary conditions

Trajectory

Collision avoidance

Vehicle dynamics

Aircraft

Details

Title: Subtitle: Collision avoidance in multi-vehicle cooperative missions using speed adjustment
Creators: Syed Bilal Mehdi - Mech. Eng. Dept. & the Coordinated Sci. Lab., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Venanzio Cichella - Mech. Eng. Dept. & the Coordinated Sci. Lab., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Thiago Marinho - Mech. Eng. Dept. & the Coordinated Sci. Lab., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Naira Hovakimyan - Mech. Eng. Dept. & the Coordinated Sci. Lab., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Resource Type: Conference proceeding
Publication Details: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Vol.2018-, pp.2152-2157
DOI: 10.1109/CDC.2017.8263963
Publisher: IEEE
Language: English
Date published: 12/2017
Academic Unit: Mechanical Engineering
Record Identifier: 9984064202302771

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