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Networked event-based collision avoidance of mobile objects with trajectory planning based on Bézier curves
European Journal of Control ( IF 3.4 ) Pub Date : 2020-08-14 , DOI: 10.1016/j.ejcon.2020.08.005
Michael Schwung , Jan Lunze

This paper proposes an event-based method to ensure a collision-free movement of two mobile objects. The vehicles are locally controlled and connected by a communication network. In the hierarchical structure considered, a stand-on object can freely change its trajectory, whereas a give-way object has to plan its trajectory so as to avoid collisions with the stand-on object. The give-way object is provided with an event-based collision avoidance unit, which predicts the behaviour of the stand-on object, generates events and plans collision-free trajectories. A method for trajectory planning is introduced that is based on Bézier curves. The trajectory of the stand-on object is communicated to the give-way object, with which the trajectory of the give-way object can be adapted so as to avoid collisions. As the stand-on object can change its trajectory at any time under system limitations, its possible future positions are estimated by the give-way object to be able to react on the current movement of the stand-on object. If the spatial separation between the two objects deceeds a threshold, communication is invoked by the give-way object. In contrast to the existing literature this approach is performed online and with a low communication effort. The effectiveness of the method is demonstrated by a simulation study with two quadrotors.

The main result is the guaranteed collision-free movement of the objects if the give-way object generates events with an appropriately chosen event threshold. The events are separated from each other by a determined minimum period of time.



中文翻译:

基于贝塞尔曲线的轨迹规划的基于事件的基于网络的移动对象碰撞避免

本文提出了一种基于事件的方法来确保两个移动对象的无碰撞运动。车辆在本地控制并通过通信网络连接。在所考虑的分层结构中,站立式对象可以自由更改其轨迹,而让步对象必须规划其轨迹,以避免与站立式对象发生冲突。赠予对象配有基于事件的避免碰撞单元,该单元可预测站立对象的行为,生成事件并计划无碰撞的轨迹。介绍了一种基于贝塞尔曲线的轨迹规划方法。将站立的对象的轨迹传达给让步对象,通过该对象可以适应让步对象的轨迹,从而避免碰撞。由于站立式对象可以在系统限制下随时更改其轨迹,因此,可能的将来位置由放行对象估计,以便能够对站立式对象的当前运动做出反应。如果两个对象之间的空间间隔超过阈值,则通过让步对象调用通信。与现有文献相反,这种方法是在线执行的,并且通信量较低。通过对两个四旋翼的仿真研究证明了该方法的有效性。与现有文献相反,这种方法是在线执行的,并且通信量较低。通过对两个四旋翼的仿真研究证明了该方法的有效性。与现有文献相反,这种方法是在线执行的,并且通信量较低。通过对两个四旋翼的仿真研究证明了该方法的有效性。

主要结果是对象的保证无碰撞的移动如果对象让路生成具有适当选择的事件阈值的事件。通过确定的最短时间间隔将事件彼此分开。

更新日期:2020-08-14
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