Journal article
Guaranteed Collision Avoidance in Multivehicle Cooperative Missions Using Speed Adjustment
Journal of aerospace information systems, Vol.17(8), pp.436-453
08/2020
DOI: 10.2514/1.I010788
Abstract
This paper presents a speed-adjustment method for avoiding obstacles during multivehicle missions. This method enables multiple autonomous agents to cooperatively avoid collision against popup moving obstacles while at the same time guaranteeing intervehicle safety. The collision-avoidance algorithm assumes knowledge of a nominal trajectory for the obstacle and takes into account bounded deviations in the speed profile. Observing such deviations, the algorithm varies the pace of the mission accordingly, guaranteeing collision avoidance. A rigorous mathematical analysis based on Lyapunov stability theory is performed to provide performance bounds and safety guarantees of the algorithm. Finally, simulation and experimental results are presented to validate the efficacy of the method in realistic multivehicle mission scenarios.
Details
- Title: Subtitle
- Guaranteed Collision Avoidance in Multivehicle Cooperative Missions Using Speed Adjustment
- Creators
- Camilla Tabasso - University of IowaVenanzio Cichella - University of IowaSyed Bilal Mehdi - University of Illinois at Urbana–ChampaignThiago Marinho - University of Illinois at Urbana–ChampaignNaira Hovakimyan - Mechanical Science and Engineering
- Resource Type
- Journal article
- Publication Details
- Journal of aerospace information systems, Vol.17(8), pp.436-453
- Publisher
- American Institute of Aeronautics and Astronautics
- DOI
- 10.2514/1.I010788
- ISSN
- 1940-3151
- eISSN
- 2327-3097
- Language
- English
- Date published
- 08/2020
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984201443902771
Metrics
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