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- W2063055034 abstract "Abstract This paper addresses the problem of cooperative motion control (CMC) of multiple autonomous marine vehicles, taking explicitly into account collision avoidance in dynamic environments. A Collision Avoidance System (CAS) for a CMC architecture is proposed that consists of two subsystems: Collision Prediction and Collision Avoidance. Collision Prediction aims at estimating the most probable trajectory of a given obstacle. To this effect, a bank of Kalman filters are run in parallel, with each filter using a different plausible model for obstacle motion. The most probable model is chosen according to a decision algorithm. Each of the vehicle trajectories is then checked for possible collision with the obstacle. Should the possibility of a collision occur, Collision Avoidance is achieved either by controlling the speed of each vehicle along its assigned path or through path re-planing using harmonic potential fields. Because group coordination must be taken into consideration, collision avoidance is implemented using a decentralized system that is suited for multiple heterogeneous vehicles. The paper summarizes the key concepts and the methodology used to implement a Collision Avoidance System for teams of vehicles. The efficacy of the system is assessed in simulation with dynamic models of a group of marine surface craft using NetMarSys, a Cooperative Motion Control Simulator developed at ISR/IST." @default.
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- W2063055034 date "2010-01-01" @default.
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- W2063055034 title "Cooperative Motion Control of Multiple Autonomous Marine Vehicles: Collision Avoidance in Dynamic Environments" @default.
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- W2063055034 doi "https://doi.org/10.3182/20100906-3-it-2019.00069" @default.
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