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Trajectory tracking and collision avoidance against a non-cooperative omnidirectional vehicle based on minimal collision time

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3 Author(s)

This paper deals with trajectory tracking for omnidirectional vehicles, and collision avoidance problems with non-cooperative vehicles. To achieve the two purposes, Switching between controls for those objectives is expected to be effective. We employ the minimal collision time as a criterion of switching. The switching control law depending on the minimal collision time is proposed.

Published in:

SICE Annual Conference 2010, Proceedings of

Date of Conference:

18-21 Aug. 2010