Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots

Wenxue Zhang; Dusan M. Stipanovic; Di Zhou

doi:10.23919/ACC45564.2020.9148031

Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots

Wenxue Zhang^*
, Dusan M. Stipanovic
, Di Zhou

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
University of Illinois at Urbana-Champaign

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents a closed-form feedback control design to guarantee collision-free maneuvering for four-wheel car-like robots. Relative velocity information and collision sector functions between the host robot and its neighbors are introduced to adjust the gain of avoidance controllers in real-time, such that controllers create smoother maneuvers and thus further improving the dynamic performance of the system. Meanwhile, the velocity-based switching functions are designed to make the avoidance control terms only active when robots and/or obstacles move towards each other, which effectively reduces unnecessary dispersal and energy consumption in collision conflicts.

Original language	English
Title of host publication	2020 American Control Conference, ACC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1671-1677
Number of pages	7
ISBN (Electronic)	9781538682661
DOIs	https://doi.org/10.23919/ACC45564.2020.9148031
State	Published - Jul 2020
Event	2020 American Control Conference, ACC 2020 - Denver, United States Duration: 1 Jul 2020 → 3 Jul 2020

Publication series

Name	Proceedings of the American Control Conference
Volume	2020-July
ISSN (Print)	0743-1619

Conference

Conference	2020 American Control Conference, ACC 2020
Country/Territory	United States
City	Denver
Period	1/07/20 → 3/07/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.23919/ACC45564.2020.9148031

Cite this

Zhang, W., Stipanovic, D. M., & Zhou, D. (2020). Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots. In 2020 American Control Conference, ACC 2020 (pp. 1671-1677). Article 9148031 (Proceedings of the American Control Conference; Vol. 2020-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC45564.2020.9148031

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title = "Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots",

abstract = "This paper presents a closed-form feedback control design to guarantee collision-free maneuvering for four-wheel car-like robots. Relative velocity information and collision sector functions between the host robot and its neighbors are introduced to adjust the gain of avoidance controllers in real-time, such that controllers create smoother maneuvers and thus further improving the dynamic performance of the system. Meanwhile, the velocity-based switching functions are designed to make the avoidance control terms only active when robots and/or obstacles move towards each other, which effectively reduces unnecessary dispersal and energy consumption in collision conflicts.",

author = "Wenxue Zhang and Stipanovic, \{Dusan M.\} and Di Zhou",

note = "Publisher Copyright: {\textcopyright} 2020 AACC.; 2020 American Control Conference, ACC 2020 ; Conference date: 01-07-2020 Through 03-07-2020",

year = "2020",

month = jul,

doi = "10.23919/ACC45564.2020.9148031",

language = "英语",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1671--1677",

booktitle = "2020 American Control Conference, ACC 2020",

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}

Zhang, W, Stipanovic, DM & Zhou, D 2020, Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots. in 2020 American Control Conference, ACC 2020., 9148031, Proceedings of the American Control Conference, vol. 2020-July, Institute of Electrical and Electronics Engineers Inc., pp. 1671-1677, 2020 American Control Conference, ACC 2020, Denver, United States, 1/07/20. https://doi.org/10.23919/ACC45564.2020.9148031

Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots. / Zhang, Wenxue; Stipanovic, Dusan M.; Zhou, Di.
2020 American Control Conference, ACC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1671-1677 9148031 (Proceedings of the American Control Conference; Vol. 2020-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper presents a closed-form feedback control design to guarantee collision-free maneuvering for four-wheel car-like robots. Relative velocity information and collision sector functions between the host robot and its neighbors are introduced to adjust the gain of avoidance controllers in real-time, such that controllers create smoother maneuvers and thus further improving the dynamic performance of the system. Meanwhile, the velocity-based switching functions are designed to make the avoidance control terms only active when robots and/or obstacles move towards each other, which effectively reduces unnecessary dispersal and energy consumption in collision conflicts.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 1 July 2020 through 3 July 2020

ER -

Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots

Abstract

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UN SDGs

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