Abstract
In this article, a collision avoidance scheme based on potential functions is proposed. The first part of the paper is intended to establish the equations of the dynamic model of the vehicle, potential attractive functions and nested saturation controller. In the second part, the repulsive scheme is developed. Along with the repulsive scheme, the controller constants are optimized, in order to perform a safer avoidance maneuver. The advantages of the proposed repulsive schemes compared with a conventional repulsive function are demonstrated by simulations.
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