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Distributed Control for Collision Avoidance between Autonomous Vehicles

  • Frank Tuijnman
Conference paper
Part of the NATO ASI Series book series (volume 65)

Abstract

An algorithm will be presented that ensures safe navigation in an environment in which other vehicles are present. Each vehicle knows its own position and speed and the position and speed of the other vehicles within a certain distance. Each vehicle can assume that the other vehicles try to avoid collision in the same way as own vehicle. It does not know the destination of other vehicles. The space in which a collision manoeuvre takes place is classified in five categories. For each category a collision avoidance strategy is specified, which determines how vehicles pass each other and gives a control law which specifies the actual speed and course alterations during the manoeuvre. Special attention is paid to the problem of navigating in a corridor and how to decide whether to overtake a slower vehicle ahead or not.

Keywords

Collision Avoidance Autonomous Mobile Robot Incoming Traffic Slow Vehicle Outgoing Traffic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Frank Tuijnman, “Algorithms for Collision Avoidance between Autonomous Mobile Robots,” in IEEE International Workshop on Intelligent Robots and Systems (IROS), (1988).Google Scholar
  2. 2.
    A.N. Cockroft and J.N.F Lameyer, A Guide to the Collision Avoidance Rules, Stanford Maritime, London (1982). Third Edition, Incorporating the 1981 AmendmentsGoogle Scholar
  3. 3.
    B.A. Colley, R.G. Curtis, and C.T. Stockel, “Manoeuvering Limits, Domains, Arenas,” The Journal of Navigation 36 (2) pp. 324–328 (May 1983).CrossRefGoogle Scholar
  4. 4.
    D. Breedveld, “Radar Simulator Training for Inland Waterway Shipping,” The Journal of Navigation 41 pp. 25–34 (Jan 1988).Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Frank Tuijnman
    • 1
    • 2
  1. 1.Faculty of Mathematics and Computer ScienceUniversity of AmsterdamThe Netherlands
  2. 2.AmsterdamThe Netherlands

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