A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters

Autor: Thyri, Emil H., Breivik, Morten, Lekkas, Anastasios M.

Publikováno v: In IFAC PapersOnLine 2020 53(2):14628-14635

Collision Avoidance for Multiple Static Obstacles using Path-Velocity Decomposition

Autor: Gabi Breuel, Christoph Stiller, Vasundhara Jain, Uli Kolbe

Publikováno v: IFAC-PapersOnLine. 52:265-270

This paper proposes an algorithm to plan collision-free trajectories for emergency scenarios using path-velocity decomposition (PVD). PVD decouples longitudinal and lateral planning, enabling the use of a linear model predictive control based path pl

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::28bb4f0c9dbdec167cd67d57b292b35d
https://doi.org/10.1016/j.ifacol.2019.08.081

A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters

Autor: Anastasios M. Lekkas, Emil H. Thyri, Morten Breivik

Publikováno v: IFAC-Papers

A deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that are collision-free with respe

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::52cc45378522d8dff5256c555fa8a89f
https://hdl.handle.net/11250/2772865

Toward Efficient Trajectory Planning: The Path-Velocity Decomposition .

Autor: Kant, Kamal, Zucker, Steven W.

Publikováno v: International Journal of Robotics Research. Fall86, Vol. 5 Issue 3, p72. 18p. 17 Diagrams.

Trajectory planning amidst moving obstacles: path-velocity decomposition revisited

Autor: Thierry Fraichard

Publikováno v: Journal of the Brazilian Computer Society
Journal of the Brazilian Computer Society, Springer Verlag, 1998, 4 (3)
Journal of the Brazilian Computer Society v.4 n.3 1998
Sociedade Brasileira de Computação (SBC)
instacron:UFRGS
Journal of the Brazilian Computer Society, Volume: 4, Issue: 3, Pages: 13-5, Published: APR 1998
Journal of the Brazilian Computer Society, 1998, 4 (3)

This paper addresses trajectory planning in dynamic workspaces, for a robot subject to dynamic constraints and moving in a dynamic workspace. The case of a car-like robot A with bounded velocity and acceleration, moving in a dynamic two-dimensional w

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fd2dd06c842a4f9323c212b97cd17ef3
https://hal.inria.fr/inria-00259326