Hybrid Collision Avoidance with Moving Obstacles
Journal article, Peer reviewed
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Original versionChai, Hassani. Hybrid Collision Avoidance with Moving Obstacles. IFAC-PapersOnLine. 2019 http://dx.doi.org/10.1016/j.ifacol.2019.12.324
This paper proposes a hybrid collision avoidance (COLAV) approach based on the integration of a global path planning algorithm and a reactive collision avoidance technique. This combination provides a robust path planning tool that can avoid collision with moving obstacles. Bézier curves are exploited as the basis for global path planning, while dynamic window (DW) algorithm is employed to search for optimal velocity pairs which ensure collision-free trajectory. In particular, the interface between the deliberate and reactive method is developed, enabling the vehicle to simultaneously track the generated global path towards the goal and avoid local collision. The performance and robustness of the proposed hybrid COLAV method is evaluated through numerical simulations.