This paper presents a speed-adjustment method for avoiding obstacles during multivehicle missions. This method enables multiple autonomous agents to cooperatively avoid collision against popup moving obstacles while at the same time guaranteeing intervehicle safety. The collision-avoidance algorithm assumes knowledge of a nominal trajectory for the obstacle and takes into account bounded deviations in the speed profile. Observing such deviations, the algorithm varies the pace of the mission accordingly, guaranteeing collision avoidance. A rigorous mathematical analysis based on Lyapunov stability theory is performed to provide performance bounds and safety guarantees of the algorithm. Finally, simulation and experimental results are presented to validate the efficacy of the method in realistic multivehicle mission scenarios.

本文提出了一种在多车任务中避开障碍物的速度调节方法。该方法使多个自治代理能够协同避免与弹出的移动障碍物碰撞，同时确保车辆安全。避免碰撞算法假定了解障碍物的标称轨迹，并考虑速度曲线中的有界偏差。观察到这种偏差，算法会相应地改变任务的步调，从而确保避免碰撞。进行了基于Lyapunov稳定性理论的严格数学分析，以提供算法的性能范围和安全性保证。最后，通过仿真和实验结果验证了该方法在实际多车任务场景下的有效性。