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Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

Published online by Cambridge University Press:  09 February 2022

Karnika Biswas Open the ORCID record for Karnika Biswas [Opens in a new window] ,
Indrani Kar  and
Eric Feron
Karnika Biswas
Affiliation:
Department of EEE, IIT Guwahati, Assam, India
Indrani Kar*
Affiliation:
Department of EEE, IIT Guwahati, Assam, India
Eric Feron
Affiliation:
CEMSE, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia
*
*Corresponding author. E-mail:indranik@iitg.ac.in
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Summary

This paper presents an integrated optimal control framework for velocity and steering control of an autonomous pursuit vehicle, where the control objectives satisfy the requirements of collision avoidance and moving target tracking. A distinctive feature of the proposed velocity and steering control is the application of logarithmic penalty functions to both. The control barrier imposed by logarithmic function provides a unique tool in computing a balanced trajectory with optimal tracking error, control effort and safety margin. Trajectories compliant with the safety regulations for autonomous driving have been planned based on estimated intention of the target and the obstacles. Effects of the controller weights have been extensively simulated to assess the performance of the proposed strategy in a variety of dynamic situations. The controller has been validated on a real-life robot by using a shrinking horizon control policy for iterative optimisation.

Keywords

optimal controlmoving targetdynamic collision avoidanceinequality constraintsvelocity barriershrinking horizonpenalty function
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2505 - 2526
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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