Guaranteed Collision Avoidance Based on Line-of-Sight Angle and Time-to-Collision

Thiago Marinho, Massinissa Amrouche, Venanzio Cichella, Dusan Stipanovic, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper deals with the problem of collision avoidance amongst autonomous vehicles that can be represented by the unicycle model on a 2D plane. The control strategy is inspired by the way animals navigate, relying only on line-of-sight (LOS) angle and time-to-collision (TTC) as feedback, made available by the on-board gimbaled monocular camera. The novelty of this work is in the proposed avoidance strategy that achieves collision avoidance without the measurement of distance, including the guarantees supported by Lyapunov-based analysis. Additionally, the proposed solution does not require an underlying logic that decides to avert or not the collision, therefore relaxing the conservatism of previous results. The proposed framework is also suitable for evading collisions in a scenario with multiple obstacles. Simulation results validate the collision avoidance law and illustrate its application to multiple obstacles.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781538654286
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2018 Annual American Control Conference, ACC 2018
CountryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Guaranteed Collision Avoidance Based on Line-of-Sight Angle and Time-to-Collision'. Together they form a unique fingerprint.

Cite this