Cooperative Avoidance Control with Relative Velocity Information and Collision Sector Functions for Car-like Robots

Abstract

This paper presents a closed-form feedback control design to guarantee collision-free maneuvering for four-wheel car-like robots. Relative velocity information and collision sector functions between the host robot and its neighbors are introduced to adjust the gain of avoidance controllers in real-time, such that controllers create smoother maneuvers and thus further improving the dynamic performance of the system. Meanwhile, the velocity-based switching functions are designed to make the avoidance control terms only active when robots and/or obstacles move towards each other, which effectively reduces unnecessary dispersal and energy consumption in collision conflicts.