Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Shape

Official GitHub repository: https://github.com/MartinBraquet/vector-field-obstacle-avoidance.

Master's research at The University of Texas at Austin in the research group of Efstathios Bakolas.

The paper resulting from these simulations has been published at the Modeling, Estimation and Control Conference (MECC 2022).

To cite this work:

Braquet, M. and Bakolas E., "Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Shape", Modeling, Estimation and Control Conference (MECC), 2022.

• Run test_obstacle_avoidance.m to obtain a trajectory derived from a control law based on the vector field for an environment composed of:
  • One/multiple static/moving ellipses/ellipsoids
  • Ellipses/ellipsoids with time-varying shapes
  • An ellipse and 4 edges (bounded environment)
  • A square and an ellipse
• Run test_control_laws_circle.m to compare the trajectories and control input norms for 3 different control laws (proportional controller only, proportional controller with threshold and proportional + derivative controllers) in the presence of a circular obstacle.
• Run test_pathlines_ellipse.m to plot the pathlines along the generated vector field for different initial positions.
• Run test_test_ellipsoid_closestPoint.m to plot the shortest segment between a point and an ellipsoid.

Simulation results

Moving ellipse

Multiple ellipses

Multiple moving ellipsoids

Ellipses with time-varying shape

Ellipsoids with time-varying shape

Ellipse and 4 edges (bounded environment)