Robotic path finding with collision avoidance using expert system

1989 ◽  
Vol 4 (3) ◽  
pp. 229-235
Author(s):  
Zixing Cai
Keyword(s):  
Expert System ◽  
Collision Avoidance ◽  
Path Finding

scholarly journals Path Finding and Collision Avoidance in Crowd Simulation

2009 ◽  
Vol 17 (3) ◽  
pp. 217 ◽  
Author(s):  
Cherif Foudil ◽  
Djedi Noureddine ◽  
Cedric Sanza ◽  
Yves Duthen
Keyword(s):  
Collision Avoidance ◽  
Crowd Simulation ◽  
Path Finding

Manoeuvring highly redundant manipulators

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 435-447 ◽  
Author(s):  
E. Sahin Conkur ◽  
Rob Buckingham
Keyword(s):  
Collision Avoidance ◽  
Potential Fields ◽  
Redundant Manipulators ◽  
Path Finding ◽  
Soft Contact ◽  
New Approach ◽  
Digital Computation ◽  
Redundant Robots ◽  
Measurement Scheme ◽  
Environment Measurement

A task based approach to the issue of redundant robots starts from the premise that there are obstacles that cannot be removed from the working area and which therefore must be avoided. This statement produces the requirement for a device with a certain degree of mobility, and stresses the need to ensure that the aim is twofold: reach the goal and avoid obstacles. But avoiding obstacles is not the same objective as keeping as far away from an obstacle as possible; the primary goal is still to reach the target. In fact humans use soft contact to reach targets that are at the periphery of their reach. This soft distributed contact has the effect of smoothing the surface of the object and hence there is an element of only being interested in obstacle detail at the appropriate scale to achieve the task. This paper describes a new approach to collision avoidance based on using a global path finding algorithm, in this case using Laplacian potential fields, in conjunction with a simple local geometrically based algorithm for avoiding obstacles and maximising the use of manoeuvring space in a manner which is not limited by digital computation resolution issues. This extra technique is in some ways analogous to the human soft contact approach. Three examples are presented to illustrate the robustness of the algorithm. In order to be able to compare results with other techniques, an environment measurement scheme is defined which gives an indication of the difficulty of the trajectory being followed.

The Integrated Design of Fuzzy Collision-Avoidance and H∞-Autopilots on Ships

2002 ◽  
Vol 55 (1) ◽  
pp. 117-136 ◽  
Author(s):  
Cheng-Neng Hwang
Keyword(s):  
Expert System ◽  
Knowledge Base ◽  
State Space ◽  
Collision Avoidance ◽  
Integrated Design ◽  
Inference Engine ◽  
Electronic Equipment ◽  
Important Concern ◽  
Autopilot Systems ◽  
Control Methodology

Collision avoidance remains the most important concern for ships at sea. Despite the electronic equipment now fitted on ships to support the mariner, expert experience is still essential when a ship is in danger of colliding with the others. To include these experts' experiences to resolve the problems of collision, we have designed a fuzzy collision-avoidance expert system that includes a knowledge base to store facts and rules, an inference engine to simulate experts' decisions and a fuzzy interface device. Either a quartermaster or an autopilot system can then implement the avoidance action proposed in the research. To perform the task of collision-avoidance effectively, a robust autopilot system using the state space H∞ control methodology has been designed to steer a ship safely for various conditions at sea in performing course keeping, course-changing and route-tracking more robustly. The integration of fuzzy collision-avoidance and H∞autopilot systems is then proposed in this paper.

A vessel management expert system

2002 ◽  
Vol 216 (2) ◽  
pp. 161-177 ◽  
Author(s):  
T Tran ◽  
C J Harris ◽  
P A Wilson
Keyword(s):  
Expert System ◽  
Collision Avoidance ◽  
Integrated System ◽  
System Structure ◽  
Sea State ◽  
Marine Transport ◽  
Simulation Results ◽  
Collision Avoidance System ◽  
Marine Navigation ◽  
Management Expert

A unified collision avoidance system is proposed to improve the efficiency and safety of marine transport, namely maritime avoidance navigation, totally integrated system (MANTIS). The principle behind its operation is to remove the difficulties and uncertainties involved in marine navigation through a system structure that makes marine transport deterministic rather than uncertain. Fundamental to its operation is a strategic interactive expert system that can determine safe and efficient navigation routes for all vessels as part of journey planning and en route collision avoidance. An important requirement is to take account of non-navigable areas, collision regulations, ship characteristics, sea state and sensor accuracy during evaluation. An outline of the MANTIS infrastructure is given, followed by a description of the vessel management system (VMES). Simulation results exemplify the significance of the system for future exploitation.

scholarly journals Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidance

2021 ◽  
Author(s):  
Nir Greshler ◽  
Ofir Gordon ◽  
Oren Salzman ◽  
Nahum Shimkin
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Path Finding ◽  
Multi Agent

scholarly journals Basic Research on an Expert System for Navigatin at Sea : Collision Avoidance Expert System

1987 ◽  
Vol 77 (0) ◽  
pp. 133-139 ◽  
Author(s):  
Saburo TSURUTA ◽  
Hisashi MATSUMURA ◽  
Masaaki INAISHI ◽  
Hayama IMAZU ◽  
Akio M. SUGISAKI
Keyword(s):  
Expert System ◽  
Collision Avoidance ◽  
Basic Research
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