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dc.contributor.authorChai, Yi
dc.contributor.authorHassani, Vahid
dc.date.accessioned2020-01-03T10:24:55Z
dc.date.accessioned2020-03-12T16:10:48Z
dc.date.available2020-01-03T10:24:55Z
dc.date.available2020-03-12T16:10:48Z
dc.date.issued2019-12-26
dc.identifier.citationChai, Hassani. Hybrid Collision Avoidance with Moving Obstacles. IFAC-PapersOnLine. 2019en
dc.identifier.issn2405-8963
dc.identifier.issn2405-8963
dc.identifier.urihttps://hdl.handle.net/10642/8270
dc.description.abstractThis 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.en
dc.language.isoenen
dc.publisherInternational Federation of Automatic Control (IFAC)en
dc.relation.ispartofseriesIFAC-PapersOnLine;Volume 52, Issue 21, 2019
dc.rights© 2019 the authors. This is a postprint-version of a work that has been accepted to IFAC for publication. The final published version can be viewed at http://dx.doi.org/10.1016/j.ifacol.2019.12.324. Chai, Y., Hassani, V. Hybrid Collision Avoidance with Moving Obstacles. IFAC-PapersOnLine. 2019; 52 (21): 302-307en
dc.subjectBézier curvesen
dc.subjectPath planningen
dc.subjectDynamic windowsen
dc.subjectCollision avoidancesen
dc.titleHybrid Collision Avoidance with Moving Obstaclesen
dc.typeJournal articleen
dc.typePeer revieweden
dc.date.updated2020-01-03T10:24:55Z
dc.description.versionacceptedVersionen
dc.identifier.doihttp://dx.doi.org/10.1016/j.ifacol.2019.12.324
dc.identifier.cristin1765758
dc.source.journalIFAC-PapersOnLine


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