The branching‐course model predictive control algorithm for maritime collision avoidance
نویسندگان
چکیده
منابع مشابه
Ship Collision Avoidance Using Scenario-Based Model Predictive Control ?
A set of alternative collision avoidance control behaviors are parameterized by two parameters: Offsets to the guidance course angle commanded to the autopilot, and changes to the propulsion command ranging from nominal speed to full reverse. Using predictions of the trajectories of the obstacles and ship, the compliance with the COLREGS rules and collision hazards associated with the alternati...
متن کاملModel predictive control approach to global air collision avoidance
Purpose – Most of the existing approaches for flight collision avoidance are concerned with local traffic alone for which the separation is based on the pairwise analysis of aircraft trajectory trends, which is not efficient with regard to some flight path requirements along waypoints. The purpose of this paper is to deal with the global collision avoidance problem which aims at separating airc...
متن کاملCommunication in distributed model predictive collision avoidance
This paper presents a model predictive approach for collision avoidance of car-like robots. An optimal problem is formulated in terms of cost minimization under constraints. Information on each robot can be incorporated online in the nonlinear model predictive framework and kinematic constraints are treated by Karush-Kuhn-Tucker(KKT) condition. For distributed collision avoidance of multiple ro...
متن کاملA Predictive Collision Avoidance Model for Pedestrian Simulation
We present a new local method for collision avoidance that is based on collision prediction. In our model, each pedestrian predicts possible future collisions with other pedestrians and then makes an efficient move to avoid them. Experiments show that the new approach leads to considerably shorter and less curved paths, ensuring smooth avoidance behaviour and visually compelling simulations. Th...
متن کاملCollision Avoidance Recursive Algorithm
This paper presents a technique for providing collision avoidance of arbitrary objects in a computer graphics system. The recursive algorithm implements the method of avoiding the collisions by taking an alternate path and therefore among the available alternate paths, the shortest one is chosen. Under the cluttered environment, maneuvering among the static and moving obstacles is the biggest h...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2019
ISSN: 1556-4959,1556-4967
DOI: 10.1002/rob.21900