Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

Karnika Biswas, Indrani Kar*, Eric Feron

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This paper presents an integrated optimal control framework for velocity and steering control of an autonomous pursuit vehicle, where the control objectives satisfy the requirements of collision avoidance and moving target tracking. A distinctive feature of the proposed velocity and steering control is the application of logarithmic penalty functions to both. The control barrier imposed by logarithmic function provides a unique tool in computing a balanced trajectory with optimal tracking error, control effort and safety margin. Trajectories compliant with the safety regulations for autonomous driving have been planned based on estimated intention of the target and the obstacles. Effects of the controller weights have been extensively simulated to assess the performance of the proposed strategy in a variety of dynamic situations. The controller has been validated on a real-life robot by using a shrinking horizon control policy for iterative optimisation.

Original languageEnglish (US)
Pages (from-to)2505-2526
Number of pages22
Issue number8
StatePublished - Aug 9 2022


  • dynamic collision avoidance
  • inequality constraints
  • moving target
  • optimal control
  • penalty function
  • shrinking horizon
  • velocity barrier

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Control and Optimization


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