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Path Planning in Dynamic Environments with Deforming Obstacles using Collision Cones

Chaudhary, Kanhaiya Lal and Those, Dehasish (2017) Path Planning in Dynamic Environments with Deforming Obstacles using Collision Cones. In: 3rd Indian Control Conference (ICC), JAN 04-06, 2017, Indian Inst Technol Guwahati Campus, Guwahati, INDIA, pp. 87-92.

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Official URL: http://dx.doi.org/ 10.1109/INDIANCC.2017.7846457

Abstract

In this paper, a path planning algorithm is presented in a dynamic environment with moving and deforming irregularly shaped obstacles using the concept of collision cones. A method to determine the collision cone of an irregularly shaped obstacle using radar signal return is introduced. No restrictions are placed either on the obstacle shape or on its velocity. Simulation results are given to validate the guidance law.

Item Type: Conference Proceedings
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Additional Information: Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 20 May 2017 07:05
Last Modified: 20 May 2017 07:05
URI: http://eprints.iisc.ernet.in/id/eprint/56963

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