Coordinated collision avoidance for multi‐vehicle systems based on collision time

Vehicles have irregular shapes and inter‐vehicle coordination is not a trivial task. Based on the distributed‐system framework, this paper studies multi‐vehicle control and coordinated obstacle avoidance for multiple autonomous vehicles with irregular shapes. The goal is to reach target points witho...

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Bibliographic Details
Published inIET control theory & applications Vol. 15; no. 11; pp. 1439 - 1450
Main Authors Yu, Hongjun, Wang, Ying, Liang, Lihua, Shi, Peng
Format Journal Article
LanguageEnglish
Published Wiley 01.07.2021
Subjects
collision avoidance
frequency modulation
multi‐vehicle system
speed regulation
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Summary:Vehicles have irregular shapes and inter‐vehicle coordination is not a trivial task. Based on the distributed‐system framework, this paper studies multi‐vehicle control and coordinated obstacle avoidance for multiple autonomous vehicles with irregular shapes. The goal is to reach target points without collisions. The proposed approaches are based on collision time, which is calculated using vehicles' irregular shapes. The approaches have two parts. The first part enables a number of vehicles to reach the target points. The second part enables collision avoidance, which includes inter‐vehicle collisions and vehicle‐to‐obstacle collisions. Speed regulation approach is proposed to change the speeds, and frequency‐modulation approach is proposed to update control commands at varying steps, and a combined approach is also proposed. Simulation examples are set to verify the effectiveness of the proposed approaches.
ISSN:1751-8644
1751-8652
DOI:10.1049/cth2.12133