Guaranteed Collision Avoidance in Multivehicle Cooperative Missions Using Speed Adjustment

2020 ◽  
Vol 17 (8) ◽  
pp. 436-453
Author(s):  
Camilla Tabasso ◽  
Venanzio Cichella ◽  
Syed Bilal Mehdi ◽  
Thiago Marinho ◽  
Naira Hovakimyan
Keyword(s):  
Collision Avoidance ◽  
Speed Adjustment

scholarly journals Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 34
Author(s):  
Camilla Tabasso ◽  
Venanzio Cichella ◽  
Syed Bilal Mehdi ◽  
Thiago Marinho ◽  
Naira Hovakimyan
Keyword(s):  
Collision Avoidance ◽  
Time Delays ◽  
Control Strategies ◽  
Vehicle Safety ◽  
Performance Bounds ◽  
Coordination Problem ◽  
Control Framework ◽  
Cooperative Vehicles ◽  
Speed Adjustment ◽  
Avoidance Problem

In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.

Pedestrian Oriented Vehicular Collision Avoidance Support System: P-VCASS

2010 ◽  
Vol E93-A (4) ◽  
pp. 679-688 ◽  
Author(s):  
Tomotaka WADA ◽  
Yuki NAKANISHI ◽  
Ryohta YAMAGUCHI ◽  
Kazushi FUJIMOTO ◽  
Hiromi OKADA
Keyword(s):  
Collision Avoidance ◽  
Support System ◽  
System P
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