Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape

Abstract Over the recent years, there has been an increasing interest in autonomous systems. Consequently, problem of avoiding static and dynamic obstacles without human interference gained a lot attention. Avoiding collision, even completely environments, is significantly more challenging when vehicle subject to nonholonomic constraints. This paper presents reactive algorithm for collision avoidance dynamic, arbitrarily shaped obstacles, which suitable unicycle-type, vehicles. Unlike most methods, we consider exact shape obstacle, allows utilize any space that not occupied by obstacle. advantage over circle ellipse approximations, as they can lead overly conservative maneuvers. We provide explicit conditions under mathematically proven validate analysis numerical simulations.