Networked Event-Based Collision Avoidance of Mobile Objects

This paper proposes an event-based method to ensure a collision-free movement of mobile objects with a certain spatial separation. The vehicles are locally controlled and connected by a communication network. For collision avoidance each object is provided with an event-based trajectory planning unit, which acts on a predictor representing the region in which the neighbouring object is located. If the spatial separation between the two objects deceeds a threshold, communication to the neighbouring object is invoked. The local trajectory is replanned based on Bézier curves to guarantee the collision avoidance. In contrast to existing literature this approach is performed online and with a low communication effort. The advantages of the method are demonstrated by a simulation study with two quadrotors.