scholarly journals Collision Avoidance Strategy for the Autocrane

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6746
Author(s):  
Dong Wang ◽  
Baochang Liu ◽  
Jian Shen ◽  
Li Chen ◽  
Lydia Zhu
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Control Strategy ◽  
Evaluation Methods ◽  
Risk Level ◽  
Collision Risk ◽  
Testing Platform ◽  
Special Cases ◽  
Physical Testing ◽  
Avoidance Strategy

The collision between the boom of the autocrane and the obstacle may cause serious equipment damages or casualties. With the development of 6G technology, data between multiple autocranes could be shared in real time, which makes it possible to finely control the autocranes. In order to avoid collision accidents, a collision avoidance strategy is proposed in this paper. This strategy focuses on the evaluation of the collision urgency and different evaluation methods are designed to match the three basic exercise modes of the boom. Based on the collision urgency, the control strategy is then put forward to ensure the boom’s safety in every collision risk level. Additionally, two special cases are also considered to guarantee that all parts of the boom, except for the end, will not hit the obstacle. Lastly, a semi-physical testing platform is established to test the performance of the proposed collision avoidance strategy.

Longitudinal and lateral collision avoidance control strategy for intelligent vehicles

2021 ◽  
pp. 095440702110240
Author(s):  
Ziyu Zhang ◽  
Chunyan Wang ◽  
Wanzhong Zhao ◽  
Jian Feng
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Decentralized Control ◽  
Control Strategy ◽  
Centralized Control ◽  
Lateral Control ◽  
Time Performance ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Control Accuracy

In order to solve the problems of longitudinal and lateral control coupling, low accuracy and poor real-time of existing control strategy in the process of active collision avoidance, a longitudinal and lateral collision avoidance control strategy of intelligent vehicle based on model predictive control is proposed in this paper. Firstly, the vehicle nonlinear coupling dynamics model is established. Secondly, considering the accuracy and real-time requirements of intelligent vehicle motion control in pedestrian crossing scene, and combining the advantages of centralized control and decentralized control, an integrated unidirectional decoupling compensation motion control strategy is proposed. The proposed strategy uses two pairs of unidirectional decoupling compensation controllers to realize the mutual integration and decoupling in both longitudinal and lateral directions. Compared with centralized control, it simplifies the design of controller, retains the advantages of centralized control, and improves the real-time performance of control. Compared with the decentralized control, it considers the influence of longitudinal and lateral control, retains the advantages of decentralized control, and improves the control accuracy. Finally, the proposed control strategy is simulated and analyzed in six working conditions, and compared with the existing control strategy. The results show that the proposed control strategy is obviously better than the existing control strategy in terms of control accuracy and real-time performance, and can effectively improve vehicle safety and stability.

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 Multi-Ship Collision Avoidance Decision-Making Based on Collision Risk Index

2020 ◽  
Vol 8 (9) ◽  
pp. 640
Author(s):  
Yingjun Hu ◽  
Anmin Zhang ◽  
Wuliu Tian ◽  
Jinfen Zhang ◽  
Zebei Hou
Keyword(s):  
Decision Making ◽  
Decision Support ◽  
Risk Analysis ◽  
Real Time ◽  
Collision Avoidance ◽  
Evaluation Method ◽  
Risk Index ◽  
Collision Risk ◽  
Ship Collision ◽  
Risk Thresholds

Most maritime accidents are caused by human errors or failures. Providing early warning and decision support to the officer on watch (OOW) is one of the primary issues to reduce such errors and failures. In this paper, a quantitative real-time multi-ship collision risk analysis and collision avoidance decision-making model is proposed. Firstly, a multi-ship real-time collision risk analysis system was established under the overall requirements of the International Code for Collision Avoidance at Sea (COLREGs) and good seamanship, based on five collision risk influencing factors. Then, the fuzzy logic method is used to calculate the collision risk and analyze these elements in real time. Finally, decisions on changing course or changing speed are made to avoid collision. The results of collision avoidance decisions made at different collision risk thresholds are compared in a series of simulations. The results reflect that the multi-ship collision avoidance decision problem can be well-resolved using the proposed multi-ship collision risk evaluation method. In particular, the model can also make correct decisions when the collision risk thresholds of ships in the same scenario are different. The model can provide a good collision risk warning and decision support for the OOW in real-time mode.

An improved AHP based fuzzy evaluation model for ship collision risk

2021 ◽  
pp. 1-9
Author(s):  
Jie Luo ◽  
Deling Wang ◽  
Yuan Gao
Keyword(s):  
Collision Avoidance ◽  
Comprehensive Evaluation ◽  
Evaluation Model ◽  
Fuzzy Comprehensive Evaluation ◽  
Risk Level ◽  
Fuzzy Evaluation ◽  
Collision Risk ◽  
Decision Making System ◽  
Solid Foundation ◽  
Ship Collision

In the research of ship collision avoidance and automatic collision avoidance decision-making system, collision risk level is especially important. To evaluate the risk of ship collision, the nature of the risk level of ship collision is analyzed. Based on the fuzzy comprehensive evaluation model based on improved AHP, the concepts of space collision risk and time collision risk are proposed, and the models for space collision risk, time collision risk and collision risk level are established at the same time. The model developed and perfected the concept of ship collision risk, and are more logical, laid a solid foundation for subsequent comprehensive evaluation.

Planning Emergency Manoeuvres

2008 ◽  
Vol 62 (1) ◽  
pp. 79-91 ◽  
Author(s):  
Rafal Szlapczynski
Keyword(s):  
Decision Support ◽  
Decision Support System ◽  
Real Time ◽  
Collision Avoidance ◽  
Support System ◽  
Visualization Tool ◽  
Collision Risk ◽  
The Real ◽  
Target Behaviour ◽  
Avoidance Manoeuvre

The paper addresses the issue of planning emergency manoeuvres and re-planning ship trajectories in case of unpredicted target behaviour. It introduces two methods. The first is responsible for monitoring other ships parameters, estimating the probability of illegal target behaviour and re-planning own trajectory in case of unpredicted events. The second is a visualization tool that enables the navigator to assess collision risk in an encounter situation and choose a collision avoidance manoeuvre if necessary. This tool is based on the Collision Threat Parameters Area display and offers new features: fuzzy sectors of forbidden speed and course values and the possibility to use any given ship domain. Both methods are fast enough to be applied in the real-time decision-support system.

Sign in / Sign up

Export Citation Format

Share Document