The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Cooperative motion control of multiple autonomous robotic vehicles: Collision Avoidance in Dynamic Environments

Sérgio Carvalhosa
Institute for Systems and Robotics, Instituto Superior Técnico
Portugal

A. Pedro Aguiar
Institute for Systems and Robotics, Instituto Superior Técnico
Portugal

António Pascoal
Institute for Systems and Robotics, Instituto Superior Técnico
Portugal

Abstract:
This paper addresses the cooperative motion control (CMC) problem of multiple autonomous robotic vehicles, taking explicitly into account the collision avoidance problem in dynamic environments. The first part of the paper describes the general architecture for CMC, that includes cooperative path following, where multiple vehicles are required to follow pre-specified spatial paths while keeping a desired inter-vehicle formation pattern. In the second part of the paper we propose a Collision Avoidance system (CAS) that is composed by two subsystems: the collision prediction, and the collision avoidance module. For collision prediction we combine a bank of Kalman filters running in parallel, each using a different model for target motion, to derive an unknown object's velocity and estimate its probable trajectory, the vehicle pre-determined path is then checked for possible interactions with the obstacle. Collision avoidance is achieved either by controlling the speed of the vehicle along its assigned mission path, or through path re-planing using harmonic potential fields. Because group coordination must be taken into consideration, collision avoidance is implemented as part of a Behavior-based system, that is decentralized and can be used with groups of heterogeneous vehicles. The proposed collision avoidance system is then applied to a group of marine surface crafts, where simulation results are presented through the use of a Cooperative Motion Control
Simulator developed to model the key different aspects of cooperative multiple vehicle systems.

 

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