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Anauto motive collision avoidance control based on a feasible set
Masakazu Mukai,Yuji Harada,Junichi Murata,Taketoshi Kawabe,Hikaru Nishira,Yoshitaka Deguchi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers an optimal path generation problem that generates a path of an automobile without any collision with obstacles. The problem is formulated as a mixed integer programming problem. In the problem the obstacles and environments a round the automobile can be represent as inequality conditions. A feasible set called collision avoidable set (CAS) is considered to constract a driver assisit control.