Guaranteed Collision Avoidance for Autonomous Systems with Acceleration Constraints and Sensing Uncertainties

Erick J. Rodríguez-Seda, Dušan M. Stipanović, Mark W. Spong

Research output: Contribution to journalArticlepeer-review

Abstract

A set of cooperative and noncooperative collision avoidance strategies for a pair of interacting agents with acceleration constraints, bounded sensing uncertainties, and limited sensing ranges is presented. We explicitly consider the case in which position information from the other agent is unreliable, and develop bounded control inputs using Lyapunov-based analysis, that guarantee collision-free trajectories for both agents. The proposed avoidance control strategies can be appended to any other stable control law (i.e., main control objective) and are active only when the agents are close to each other. As an application, we study in detail the synthesis of the avoidance strategies with a set-point stabilization control law and prove that the agents converge to the desired configurations while avoiding collisions and deadlocks (i.e., unwanted local minima). Simulation results are presented to validate the proposed control formulation.

Original languageEnglish (US)
Pages (from-to)1014-1038
Number of pages25
JournalJournal of Optimization Theory and Applications
Volume168
Issue number3
DOIs
StatePublished - Mar 1 2016

Keywords

  • Avoidance control
  • Bounded control
  • Two-agent systems

ASJC Scopus subject areas

  • Control and Optimization
  • Management Science and Operations Research
  • Applied Mathematics

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