Open AccessCoordinated collision avoidance for multi‐vehicle systems based on collision time
Author(s) -
Yu Hongjun,
Wang Ying,
Liang Lihua,
Shi Peng
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12133
Subject(s) - china , automation , library science , engineering , chinese academy of sciences , engineering management , computer science , geography , mechanical engineering , archaeology
Vehicles have irregular shapes and inter‐vehicle coordination is not a trivial task. Based on the distributed‐system framework, this paper studies multi‐vehicle control and coordinated obstacle avoidance for multiple autonomous vehicles with irregular shapes. The goal is to reach target points without collisions. The proposed approaches are based on collision time, which is calculated using vehicles' irregular shapes. The approaches have two parts. The first part enables a number of vehicles to reach the target points. The second part enables collision avoidance, which includes inter‐vehicle collisions and vehicle‐to‐obstacle collisions. Speed regulation approach is proposed to change the speeds, and frequency‐modulation approach is proposed to update control commands at varying steps, and a combined approach is also proposed. Simulation examples are set to verify the effectiveness of the proposed approaches.