NDLI: Observability-based Local Path Planning and Collision Avoidance Using Bearing-only Measurements

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Observability-based Local Path Planning and Collision Avoidance Using Bearing-only Measurements

Content Provider	Semantic Scholar
Author	Yu, Huili Sharma, Rajnikant Beard, Randal W. Taylor, Clark N.
Copyright Year	2012
Abstract	In this paper we present an observability-based local path planning and collision avoidance technique. Bearing-only measurements are utilized to estimate the time-to-collision (TTC) and bearing to obstacles using an extended Kalman Filter (EKF). To ensure the error covariance matrix computed by an EKF is bounded, the system should be observable. We perform a nonlinear observability analysis to obtain the necessary conditions for complete observability. We use these conditions to design a path planning algorithm that enhances observability while avoiding collisions with obstacles. We analyze the behavior of the path planning algorithm and specially define the environments where the path planning algorithm will guarantee collision-free paths that lead to a goal configuration. Numerical results show that the planning algorithm successfully solves the single and multiple obstacle avoidance Email addresses: huiliyu.yhl@gmail.com (Huili Yu), raj.drdo@gmail.com (Rajnikant Sharma), beard@byu.edu (Randal W. Beard), clark.n.taylor@gmail.com (Clark N. Taylor) Preprint submitted to Elsevier January 20, 2012 problems while improving the estimation accuracy.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.et.byu.edu/~beard/papers/preprints/YuSharmaBeard__.pdf
Alternate Webpage(s)	http://www.dtic.mil/dtic/tr/fulltext/u2/a587498.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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