Path planning in dynamic environments with deforming obstacles using collision cones
Kanhaiya Lal Chaudhary, Debasish Ghose · 2017
In this paper, a path planning algorithm is presented in a dynamic environment with moving and deforming irregularly shaped obstacles using the concept of collision cones. A method to determine the collision cone of an irregularly shaped obstacle using radar signal return is introduced. No restrictions are placed either on the obstacle shape or on its velocity. Simulation results are given to validate the guidance law.