A Reactionary Obstacle Avoidance Algorithm for Autonomous Vehicles
Gizem Yucel, İlkay Yavrucuk · 51st AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition · 2013
This paper describes the development of guidance algorithms in order to avoid a prescribed obstacle using a collision cone. The Collision Cone Method is a reactive and local method which uses a geometric approach to obstacle avoidance. Here, an avoidance zone around the obstacle is formed for the vehicle to pass the obstacle around this zone. The algorithm is first developed for a 2D (planar) and 3D environment. The algorithm is also formed for the optimized collision avoidance. The avoidance zone radius is optimized using constraint optimization; Lagrange multipliers with Karush-Kuhn-Tucker conditions. Example simulation runs are shown for each algorithm.