This paper presents an ‘optimally designed’ anti-collision trajectory plan suitable for moving target tracking in narrow spaces like corridors, aisles, etc. Narrow spaces constitute of highly constrained reachable states in the context of dynamic motion. Tracking is the default mode, while the safe trajectory is triggered on a priority-basis. The optimal switching point plays a key role in preventing a possible collision due to a ‘mis-timed’ change of manoeuvre, in case the obstacle shows unanticipated motion. Moreover, it also ensures that tracking is resumed at a point which minimises tracking error under the said deviation from the desired path. A smoothening filter has been proposed to make seamless transitions at the switching points.

本文提出了一种“优化设计”的防碰撞轨迹计划，适用于走廊、过道等狭窄空间中的运动目标跟踪。在动态运动的背景下，狭窄空间由高度受限的可达状态构成。跟踪是默认模式，而安全轨迹是基于优先级触发的。最佳切换点在防止由于“不合时宜”的操纵变化而可能发生碰撞方面起着关键作用，以防障碍物显示出意外运动。此外，它还确保在与期望路径的所述偏差下在最小化跟踪误差的点处恢复跟踪。已经提出了平滑滤波器来在切换点进行无缝转换。