Duration of collision-free motion of unmanned vehicles in a confined area

Abstract

SUMMARYThis paper provides a mathematical approach to study the duration of collision-free motion of multiple unmanned autonomous vehicles (UXVs) operating in confined areas. A simple geometric model of the UXVs is first proposed, and the dynamics of the model is shown. The expected time of first collision is then formulated using the concept of mean free path from molecular dynamics. Monte-Carlo simulation is performed to verify the theory developed. The expected time of first collision is a function of the number of UXVs, the UXV speed and the sensor field of view (FOV) for a given operational area and vehicle size. Furthermore, the critical number of UXVs, above which collision can be deemed to occur instantly, is obtained.

Collision avoidance with limited field of view sensing: A velocity obstacle approach

“…If α s < π/2, then no guarantee about collision can be given. The risk of collision when α s < π/2 is studied in [11].…”

“…A few notable exceptions are as follows. A study investigates the link between a small FOV and the probability of collision [11]. Other works are able to deal with a limited FOV [12], This work has been financially supported by Honeywell, and has benefitted of the administrative and technical coordination of the EPFL Transportation Center.…”