Distributed Control for Collision Avoidance between Autonomous Vehicles

Abstract

An algorithm will be presented that ensures safe navigation in an environment in which other vehicles are present. Each vehicle knows its own position and speed and the position and speed of the other vehicles within a certain distance. Each vehicle can assume that the other vehicles try to avoid collision in the same way as own vehicle. It does not know the destination of other vehicles. The space in which a collision manoeuvre takes place is classified in five categories. For each category a collision avoidance strategy is specified, which determines how vehicles pass each other and gives a control law which specifies the actual speed and course alterations during the manoeuvre. Special attention is paid to the problem of navigating in a corridor and how to decide whether to overtake a slower vehicle ahead or not.