Risk Vector-based Near miss Obstacle Avoidance for Autonomous Surface Vehicles
Mingi Jeong,Alberto Quattrini Li,Mingi Jeong,Alberto Quattrini Li
This paper presents a novel risk vector-based near miss prediction and obstacle avoidance method. The proposed method uses the sensor readings about the pose of the other obstacles to infer their motion model (velocity and heading) and, accordingly, adapt the risk assessment and take corrective actions if necessary. Relative vector calculations allow the method to perform in real-time. The algorit...
