Abstracting any Vehicle Shape and the Kinematics and Dynamic Constraints from Reactive Collision Avoidance Methods.
Javier Mínguez, Luis Montano · 2007
Abstract — This paper addresses the extension of collision avoidance methods to address any vehicle shape as well as the kinematic and dynamic constraints. The new concept is to build an abstraction layer between the inputs of the reactive layer and the collision avoidance method. The vehicle characteristics are incorporated in the abstraction layer, but in such a way that when the avoidance method is used the constraints have been already taken into account. The contribution of this strategy is to widen the scope of application of collision avoidance methods that do not address the vehicle constraints. The advantage with respect to existing techniques is to address all the vehicle aspects together and, in particular, to provide a closed form solution for any vehicle shape. This strategy has been validated using an standard collision avoidance method in a real robot. I.