Collision avoidance in multi-vehicle cooperative missions using speed adjustment
Syed Bilal Mehdi, Venanzio Cichella, Thiago Marinho, Naira Hovakimyan · 2017
This paper presents a speed adjustment method for avoiding obstacles during multi-vehicle cooperative missions. The algorithm assumes knowledge of a nominal trajectory for the obstacle and takes into account bounded deviations in the speed profile. Observing such changes, the algorithm varies the pace of the mission accordingly. Rigorous theoretical results guarantee that the collision is avoided under the cooperative mission scenario.