TY - GEN
T1 - Collision avoidance control with sensing uncertainties
AU - Rodríguez-Seda, Erick J.
AU - Stipanović, Dušan M.
AU - Spong, Mark W.
PY - 2011
Y1 - 2011
N2 - Sensing and localization mechanisms, employed by mobile robots for the detection of obstacles and other nearby agents, may inaccurately estimate the position of obstacles due to noise, delays, and interferences incurred during the detection process. Therefore, it is critical to design collision avoidance strategies that are robust to the presence of measurement errors. In this paper, we present a decentralized, cooperative collision avoidance strategy for a pair of agents considering bounded sensing uncertainties and acceleration constraints. The avoidance control can be appended to any other stable control law (i.e., main control objective) and is active only when the vehicle is close to the other agent. A numerical example is presented that validates the proposed avoidance strategy.
AB - Sensing and localization mechanisms, employed by mobile robots for the detection of obstacles and other nearby agents, may inaccurately estimate the position of obstacles due to noise, delays, and interferences incurred during the detection process. Therefore, it is critical to design collision avoidance strategies that are robust to the presence of measurement errors. In this paper, we present a decentralized, cooperative collision avoidance strategy for a pair of agents considering bounded sensing uncertainties and acceleration constraints. The avoidance control can be appended to any other stable control law (i.e., main control objective) and is active only when the vehicle is close to the other agent. A numerical example is presented that validates the proposed avoidance strategy.
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U2 - 10.1109/acc.2011.5991176
DO - 10.1109/acc.2011.5991176
M3 - Conference contribution
AN - SCOPUS:80053167660
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 3363
EP - 3368
BT - Proceedings of the 2011 American Control Conference, ACC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
ER -