Deterministic Vessel Automatic Collision Avoidance Strategy Evaluation Modeling

2019 ◽  
pp. -1--1
Author(s):  
Hongdan Liu ◽  
Qi Liu ◽  
Rong Sun
Keyword(s):  
Collision Avoidance ◽  
Strategy Evaluation ◽  
Avoidance Strategy

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

A Collision Avoidance Strategy For Multirrotor UAVs Based On Artificial Potential Fields

2021 ◽  
Author(s):  
Stefan van der Veeken ◽  
Jamie Wubben ◽  
Carlos T. Calafate ◽  
Juan-Carlos Cano ◽  
Pietro Manzoni ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Potential Fields ◽  
Artificial Potential Fields ◽  
Avoidance Strategy

scholarly journals Obstacle Avoidace Robot Using LabView

2015 ◽  
Vol 4 (3) ◽  
pp. 164
Author(s):  
Tasher Ali Sheikh ◽  
Swacheta Dutta ◽  
Smriti Baruah ◽  
Pooja Sharma ◽  
Sahadev Roy
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Autonomous Robotics ◽  
Continuous Transition ◽  
Heavy Burden ◽  
Avoidance Strategy ◽  
Small Period ◽  
Specific Amount

The concept of path planning and collision avoidance are two of the most common theories applied for designing and developing in advanced autonomous robotics applications. NI LabView makes it possible to implement real-time processor for obstacle avoidance. The obstacle avoidance strategy ensures that the robot whenever senses the obstacle stops without being collided and moves freely when path is free, but sometimes there exists a probability that once the path is found free and the robot starts moving, then within a fraction of milliseconds, the robot again sense the obstacle and it stops. This continuous swing of stop and run within a very small period of time may cause heavy burden on the system leading to malfunctioning of the components of the system. This paper deals with overcoming this drawback in a way that even after the robot calculates the path is free then also it will wait for a specific amount of time before running it. So as to confirm that if again the sensor detects the obstacle within that specified period then robot don’t need to transit its state suddenly thus avoiding continuous transition of run and stop. Thus it reduces the heavy burden on the system.

scholarly journals Multiobjective Optimization Based Vessel Collision Avoidance Strategy Optimization

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Qingyang Xu ◽  
Chuang Zhang ◽  
Ning Wang
Keyword(s):  
Multiobjective Optimization ◽  
Collision Avoidance ◽  
Collision Risk ◽  
Nsga Ii ◽  
Great Loss ◽  
Marine Traffic ◽  
Simulation Based ◽  
International Regulations ◽  
Avoidance Strategy ◽  
Rudder Angle

The vessel collision accidents cause a great loss of lives and property. In order to reduce the human fault and greatly improve the safety of marine traffic, collision avoidance strategy optimization is proposed to achieve this. In the paper, a multiobjective optimization algorithm NSGA-II is adopted to search for the optimal collision avoidance strategy considering the safety as well as economy elements of collision avoidance. Ship domain and Arena are used to evaluate the collision risk in the simulation. Based on the optimization, an optimal rudder angle is recommended to navigator for collision avoidance. In the simulation example, a crossing encounter situation is simulated, and the NSGA-II searches for the optimal collision avoidance operation under the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS). The simulation studies exhibit the validity of the method.

scholarly journals A situation-aware collision avoidance strategy for car-following

2018 ◽  
Vol 5 (5) ◽  
pp. 1012-1016 ◽  
Author(s):  
Li Li ◽  
Xinyu Peng ◽  
Fei-Yue Wang ◽  
Dongpu Cao ◽  
Lingxi Li
Keyword(s):  
Collision Avoidance ◽  
Car Following ◽  
Avoidance Strategy

scholarly journals Research on a lift car collision avoidance strategy for a circulatory multipath elevator based on digital twins

2021 ◽  
Vol 1884 (1) ◽  
pp. 012033
Author(s):  
Jiwen Chen ◽  
Lei Wang ◽  
Xin Li ◽  
Hongjuan Yang ◽  
Rui Yang
Keyword(s):  
Collision Avoidance ◽  
Digital Twins ◽  
Avoidance Strategy
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