Publication

Integrated Path Following and Collision Avoidance Using a Composite Vector Field

Yao, W., Lin, B. & Cao, M., 12-Mar-2020, Proceedings of the 58th IEEE Conference on Decision and Control . IEEE, p. 250-255

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

APA

Yao, W., Lin, B., & Cao, M. (2020). Integrated Path Following and Collision Avoidance Using a Composite Vector Field. In Proceedings of the 58th IEEE Conference on Decision and Control (pp. 250-255). IEEE. https://doi.org/10.1109/CDC40024.2019.9029903

Author

Yao, Weijia ; Lin, Bohuan ; Cao, Ming. / Integrated Path Following and Collision Avoidance Using a Composite Vector Field. Proceedings of the 58th IEEE Conference on Decision and Control . IEEE, 2020. pp. 250-255

Harvard

Yao, W, Lin, B & Cao, M 2020, Integrated Path Following and Collision Avoidance Using a Composite Vector Field. in Proceedings of the 58th IEEE Conference on Decision and Control . IEEE, pp. 250-255, 58th Conference on Decision and Control (CDC2019), Nice, France, 11/12/2019. https://doi.org/10.1109/CDC40024.2019.9029903

Standard

Integrated Path Following and Collision Avoidance Using a Composite Vector Field. / Yao, Weijia; Lin, Bohuan; Cao, Ming.

Proceedings of the 58th IEEE Conference on Decision and Control . IEEE, 2020. p. 250-255.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Vancouver

Yao W, Lin B, Cao M. Integrated Path Following and Collision Avoidance Using a Composite Vector Field. In Proceedings of the 58th IEEE Conference on Decision and Control . IEEE. 2020. p. 250-255 https://doi.org/10.1109/CDC40024.2019.9029903


BibTeX

@inproceedings{16eea1395fea4eb38caf2ae344d2fff4,
title = "Integrated Path Following and Collision Avoidance Using a Composite Vector Field",
abstract = "Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.",
author = "Weijia Yao and Bohuan Lin and Ming Cao",
year = "2020",
month = mar,
day = "12",
doi = "10.1109/CDC40024.2019.9029903",
language = "English",
isbn = "978-1-7281-1398-2",
pages = "250--255",
booktitle = "Proceedings of the 58th IEEE Conference on Decision and Control",
publisher = "IEEE",
note = "58th Conference on Decision and Control (CDC2019) ; Conference date: 11-12-2019 Through 13-12-2019",

}

RIS

TY - GEN

T1 - Integrated Path Following and Collision Avoidance Using a Composite Vector Field

AU - Yao, Weijia

AU - Lin, Bohuan

AU - Cao, Ming

PY - 2020/3/12

Y1 - 2020/3/12

N2 - Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.

AB - Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.

U2 - 10.1109/CDC40024.2019.9029903

DO - 10.1109/CDC40024.2019.9029903

M3 - Conference contribution

SN - 978-1-7281-1398-2

SP - 250

EP - 255

BT - Proceedings of the 58th IEEE Conference on Decision and Control

PB - IEEE

T2 - 58th Conference on Decision and Control (CDC2019)

Y2 - 11 December 2019 through 13 December 2019

ER -

ID: 109250277