Cooperative collision avoidance and formation control for objects with heterogeneous shapes

No Thumbnail Available
Authors
Sunkara, Vishwamithra Reddy
Chakravarthy, Animesh
Issue Date
2017-07
Type
Conference paper
Language
en_US
Keywords
Mobile robots , Autonomous robotic systems , Guidance navigation , Control , Collision avoidance
Research Projects
Organizational Units
Journal Issue
Alternative Title
Abstract

This paper addresses the problem of formation control with collision avoidance, in scenarios comprising robots of heterogeneous shapes and with double integrator dynamics, moving on a plane. The exact shapes of the robots are taken into account in developing two cooperative collision avoidance strategies, and these are based on the collision cone approach. The two collision avoidance strategies treat the acceleration magnitude and direction, respectively, as inputs to facilitate cooperative collision avoidance. Analytical expressions for these cooperative collision avoidance laws are presented. These are then integrated with formation control laws, and simulations demonstrate the satisfactory performance of the overall system.

Description
Click on the DOI link to access the article (may not be free).
Citation
Sunkara, Vishwamithra Reddy; Chakravarthy, Animesh. 2017. Cooperative collision avoidance and formation control for objects with heterogeneous shapes. IFAC-PapersOnLine, vol. 50:no. 1:pp 10128-10135
Publisher
Elsevier
License
Journal
Volume
Issue
PubMed ID
DOI
ISSN
2405-8963
EISSN