A Decentralized Guaranteed Collision Avoidance Control Framework for Multi-Vehicle Systems in Highly Constrained Spaces

Erick J. Rodríguez-Seda

2024

Abstract

Collision avoidance methods based on artificial potential field functions generally assume vehicles and obstacles to have circular or elliptical shapes, which hinders mobility through narrow and cluttered spaces. To counteract this problem, this paper presents a decentralized, cooperative control framework for vehicles of unicycle type that considers the non-circular shape and relative orientation of vehicles and obstacles, increasing their maneuverability through tight spaces. The control framework proposes the use of a continuously differentiable time-varying minimum safe distance that agents need to enforce based on their shape and relative orientation and modulates the avoidance maneuvers and reaction forces based on the collision threat, increasing the reaction forces when the vehicles are fast approaching and relaxing the forces when they are moving away. The resulting closed-form control inputs are continuously smooth and bounded and are rigorously proven to guarantee collision avoidance at all times.

Paper Citation

in Harvard Style

J. Rodríguez-Seda E. (2024). A Decentralized Guaranteed Collision Avoidance Control Framework for Multi-Vehicle Systems in Highly Constrained Spaces. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 229-236. DOI: 10.5220/0012900300003822

in Bibtex Style

@conference{icinco24,
author={Erick J. Rodríguez-Seda},
title={A Decentralized Guaranteed Collision Avoidance Control Framework for Multi-Vehicle Systems in Highly Constrained Spaces},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={229-236},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012900300003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Decentralized Guaranteed Collision Avoidance Control Framework for Multi-Vehicle Systems in Highly Constrained Spaces
SN - 978-989-758-717-7
AU - J. Rodríguez-Seda E.
PY - 2024
SP - 229
EP - 236
DO - 10.5220/0012900300003822
PB - SciTePress