Incorporating Stochastics into Optimal Collision Avoidance Problems Using Superquadrics

2020 ◽  
Vol 28 (2) ◽  
pp. 65-69
Author(s):  
Nathan E. Smith ◽  
Richard G. Cobb ◽  
William P. Baker
Keyword(s):  
Collision Avoidance ◽  
Collision Avoidance Problems

scholarly journals A Collision Avoidance Method for Intelligent Ship Based on the Improved Bacterial Foraging Optimization Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Xingzhong Wang ◽  
Xinghua Kou ◽  
Jinfeng Huang ◽  
Xianchun Tan
Keyword(s):  
Collision Avoidance ◽  
Optimization Algorithm ◽  
Step Length ◽  
Bacterial Foraging Optimization ◽  
Automatic Driving ◽  
Bacterial Foraging ◽  
Collision Avoidance Problems ◽  
Adaptive Step ◽  
Bacterial Foraging Optimization Algorithm ◽  
Migration Probability

The bacterial foraging optimization algorithm (BFOA) is an intelligent population optimization algorithm widely used in collision avoidance problems; however, the BFOA is inappropriate for the intelligent ship collision avoidance planning with high safety requirements because BFOA converges slowly, optimizes inaccurately, and has low stability. To fix the above shortcomings of BFOA, an autonomous collision avoidance algorithm based on the improved bacterial foraging optimization algorithm (IBFOA) is demonstrated in this paper. An adaptive diminishing fractal dimension chemotactic step length is designed to replace the fixed step length to achieve the adaptive step length adjustment, an optimal swimming search method is proposed to solve the invalid searching and repeated searching problems of the traditional BFOA, and the adaptive migration probability is developed to take the place of the fixed migration probability to prevent elite individuals from being lost in BOFA. The simulation of benchmark tests shows that the IBFOA has a better convergence speed, optimized accuracy, and higher stability; according to a collision avoidance simulation of intelligent ships which applies the IBFOA, it can realize the autonomous collision avoidance of intelligent ships in dynamic obstacles environment is quick and safe. This research can also be used for intelligent collision avoidance of automatic driving ships.

scholarly journals Variational collision avoidance problems on Riemannian manifolds

2018 ◽  
Author(s):  
Mishal Assif ◽  
Ravi Banavar ◽  
Anthony Bloch ◽  
Margarida Camarinha ◽  
Leonardo Colombo
Keyword(s):  
Collision Avoidance ◽  
Riemannian Manifolds ◽  
Collision Avoidance Problems

Sensory Network for Mobile Robotic Systems with Structured Intelligence

1998 ◽  
Vol 10 (4) ◽  
pp. 338-349 ◽  
Author(s):  
Naoyuki Kubota ◽  
◽  
Toshio Fukuda ◽  
Keyword(s):  
Genetic Algorithm ◽  
Decision Making ◽  
Mobile Robot ◽  
Collision Avoidance ◽  
Environmental Conditions ◽  
Fuzzy Controller ◽  
Robotic Systems ◽  
Delta Rule ◽  
Simulation Results ◽  
Collision Avoidance Problems

This paper deals with a sensory network for mobile robotic systems with structured intelligence. A mobile robot requires close linkage of sensing, decision making, and action. To realize this, we propose structured intelligence for robotic systems. In this paper, we focus on the sensing ability for a mobile robot with a fuzzy controller tuned by the delta rule and whose architecture is optimized by a genetic algorithm. We apply the sensory network for controlling attention ranges for external sensors and for adjusting fuzzy controller output from the metalevel. As a simulation example, we apply the proposed method to mobile robot collision avoidance problems. Simulation results show that sensory networks control the attention range for perception and adjust fuzzy controller output based on given environmental conditions. We show the experimental results of mobile robot collision avoidance in work space including several obstacles.

Sign in / Sign up

Export Citation Format

Share Document