Abstract A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the on road while achieving heavy braking. It operates at limit of friction structured in two main steps: a motion-planning step based receding-horizon planning to obtain acceleration-vector references, low-level following these acceleration references transforming them into actuator commands. The...

Drones are the first robots to arrive in smart cities, and collision avoidance with helicopters is among the first barriers to widespread drone use. In this paper, we develop control designs and vehicle models to analyze collision avoidance between quadrotors and helicopters, and use them to derive the ranges required for sensing or communication radios used for collision avoidance. The models ...

Many collision avoidance methods do not consider the vehicle shape and its kinematic and dynamic constraints, assuming a point-like and omnidirectional robot without acceleration constraints. The contribution of this paper is a methodology to consider the exact shape and kinematics as well as the effects of the dynamics in the collision avoidance layer, although the original avoidance method at...

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide...