Collision Avoidance Problem of Ellipsoid Motion

Abstract

This paper studies the problem of target control and how a virtual ellipsoid can avoid the static obstacle. During the motion to the target set, the virtual ellipsoid can achieve a motion under collision avoidance by keeping the distance between the ellipsoid and obstacle. We present solutions to this problem in the class of closed-loop (feedback) controls based on Hamilton–Jacobi–Bellman (HJB) equation. Simulation results verify the validity and effectiveness of our algorithm.

Keywords

• virtual ellipsoid motion
• target set
• collision avoidance
• static obstacle
• HJB equation