Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We dev...
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| Veröffentlicht in: | arXiv.org 2022-05 |
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| creator | Kouskoulas, Yanni Machado, T J Genin, Daniel Schmidt, Aurora Papusha, Ivan Brulé, Joshua |
| description | We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur. |
| doi_str_mv | 10.48550/arxiv.2205.04833 |
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| subjects | Collision avoidance Computation Computer Science - Logic in Computer Science Computer Science - Robotics Kinematics Libraries Maneuvers Mathematics - Optimization and Control |
| title | Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns |
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