This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept....

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is keep a prescribed separation with obstacles in the air. In this paper, collision-avoidance control method non-cooperative moving proposed multicopter altitude hold mode by using Lyapunov-like barrier function. functions designed elaborately, based on which fo...

On-Line Sub-Optimal Obstacle Avoidance Zvi Shiller Mechanical and Aerospace Engineering University of California Los Angeles, CA 90095 Abstract This paper presents an on-line planner for sub-optimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global crit...

This paper presents an online planner for suboptimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global criterion. In unknown environments, obstacles are avoided as they are detected by on-board sensors. This avoidance strategy is guaranteed to reach the...