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Authors:
(1) Mehdi Naderi;
(2) Markos Papageorgiou;
(3) Dimitrios Troullinos;
(4) Iasson Karafyllis;
(5) Ioannis Papamichail.
The Nonlinear Feedback Control
OD Corridors and Desired Orientations
Boundary and Safety Controllers
Appendix A: Collision Detection
Appendix B: Transformed ISO-Distance curves
Appendix D: Safety Controller Details
Appendix E: Controller Parameters
A. Finding cross-point when EV and obstacle have circular and skewed motions, respectively
In this case, the cross-point can be found by crossing the following movement equations:
So, the cross-point’s longitudinal position is one of the roots of the following second-order polynomial that results from (46) after simplification:
B. Finding cross-point when EV and obstacle have skewed and circular motions, respectively
Following a similar procedure to the previous one, the crosspoint can be found by calculating roots of the following equation:
The found cross-points should be transformed to the coordinates aligned with the EV’s desired orientation. If they are behind the EV or obstacle or the roots are not real, they are ignored. Otherwise, the closest cross-point is considered.
C. Finding the closest current obstacle
This paper is available on arxiv under CC 4.0 license.