A Collision Avoidance Algorithm Based on the Virtual Target Approach for Cooperative Unmanned Surface Vehicles

Abstract : This paper presents a collision avoidance algo- rithm based on the virtual target path-following guidance technique, developed for Unmanned Surface Vehicle multi- agent frameworks. The proposed collision avoidance procedure is integrated with the distributed guidance module already developed for cooperative and coordinated navigation of USVs. A basic integration of the collision avoidance system with the "Rules of the Road" is proposed too. Results of the overall collision free cooperative system are then presented.
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Marco Bibuli, Gabriele Bruzzone, Massimo Caccia, Lionel Lapierre. A Collision Avoidance Algorithm Based on the Virtual Target Approach for Cooperative Unmanned Surface Vehicles. CDC: Conference on Decision and Control, Dec 2012, Maui, Hawaii, United States. ⟨hal-00733781⟩

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