Robust Implementation of Automated Collision Avoidance Using an Updating Particle Reference
Paper i proceeding, 2018
In recent work, an autonomous collision avoidance system was described, targeting speed and path changes based on optimal control theory applied to a friction-limited particle. This avoids artificial separation of the control problem into path-planning and path following, fully integrates speed control and stability criteria with the lateral motion control, and provides a modular framework for motion control at the limits of friction. The present paper extends the previous work by providing an updating reference aimed at improving the robustness and real-world applicability of the controller. The controller is tested and evaluated under conditions of uncertain geometry and surface friction, using a high-fidelity simulation model as well as physical testing on the track.