论文标题
自动化与主动角相碰撞的几何学证明
Automating Geometric Proofs of Collision Avoidance with Active Corners
论文作者
论文摘要
避免障碍物与汽车，机器人或飞机等车辆之间的碰撞对于自动化和自治的发展至关重要。为了简化问题，许多避免碰撞算法和证据认为车辆是一个质量质量，尽管实际车辆不是点。在本文中，我们考虑了一个凸多边形车辆，其非零区域沿着二维轨迹行驶。我们得出了一个易于检查的，无量词的公式，以检查给定的障碍物是否会随车辆在计划轨迹上移动的车辆碰撞。我们将我们的方法应用于两个避免飞机碰撞并研究其性能的案例研究。
Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be a point mass, though the actual vehicles are not points. In this paper, we consider a convex polygonal vehicle with nonzero area traveling along a 2-dimensional trajectory. We derive an easily-checkable, quantifier-free formula to check whether a given obstacle will collide with the vehicle moving on the planned trajectory. We apply our method to two case studies of aircraft collision avoidance and study its performance.
