Collision Avoidance in Dynamic Environment: An ICS-Checker Using Extremal Trajectories

In this article, we have addressed the problem of navigating a vehicle with kinodynamic constraints in an environment where the trajectory of dynamic obstacles can be partially predictable. This study introduces an Inevitable state-checker named ICSe-Test, which is an approach grounded in the concept of Inevitable Collision States (ICS). This primary contribution of the study, unlike the state of the art, is the selection of a fixed number of maneuvers for the ICSe-Test, regardless of the number of dynamic obstacles present in the environment. Further, the paper proposed a collision avoidance scheme based on ICSe-Test, and it is compared with the present approaches. The results show the superior performance of the proposed Inevitable state-checker using extremal trajectories.