Control laws to avoid collision with three dimensional obstacles using sensors
- Authors
- Kim, Jonghoek
- Issue Date
- 15-Jan-2019
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Collision avoidance; 3D environment; Maximum turn rate; Maximum acceleration; Arbitrarily shaped obstacle
- Citation
- OCEAN ENGINEERING, v.172, pp.342 - 349
- Journal Title
- OCEAN ENGINEERING
- Volume
- 172
- Start Page
- 342
- End Page
- 349
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/2040
- DOI
- 10.1016/j.oceaneng.2018.11.035
- ISSN
- 0029-8018
- Abstract
- Collision avoidance in 3D environments is important to the problem of planning safe trajectories for an autonomous vehicle. Existing literature on collision avoidance assumed that obstacle shapes are known a priori and modeled obstacles as spheres or bounding boxes. However, in 3D environments, an obstacle shape is unknown to the autonomous vehicle, and the vehicle detects an obstacle boundary using 3D sensors, such as 3D sonar. In this paper, we introduce control laws for collision avoidance, considering scenarios where a vehicle detects arbitrarily shaped and non-convex obstacles using sensors. Moreover, our control laws are designed considering motion constraints, such as the maximum turn rate and the maximum speed rate of the vehicle. The effectiveness of our control laws is verified using MATLAB simulations.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Science and Technology > Department of Electronic and Electrical Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/2040)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.