Showing papers on "Collision avoidance published in 1985"

Real-time obstacle avoidance for manipulators and mobile robots

Abstract: This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept. In this approach, collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, allowing real-time robot operations in a complex environment. We have applied this obstacle avoidance scheme to robot arm using a new approach to the general problem of real-time manipulator control. We reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. This method has been implemented in the COSMOS system for a PUMA 560 robot. Using visual sensing, real-time collision avoidance demonstrations on moving obstacles have been performed.

Ship collision preventive aid apparatus

Abstract: The present application discloses a ship collision preventive aid apparatus in which a radar picture and a key picture are selected from all pictures displayed on a display means as transmitted through a touch panel, and the operator touches the surface of the touch panel, so that a program for an operation key name selected is executed. Predetermined collision preventive aid data required for collision avoidance are then displayed on a display screen. With operation simplified, appropriate information concerning collision avoidance may be supplied and the entire construction is simplified.

On the mobility of bodies in ℝ n

Abstract: We may define a mobility problem to be one of the type: ‘Given a (fully or partlys pecified) collection of bodies in ℝ n , assumed not to interpenetrate, can they be moved in some (fully or partly specified) fashion?’ Early examples of mobility problems nclude ‘Chinese puzzles’ and Sam Loyd's ‘15 puzzle’ (to which could be added the more recent Rubik's Cube!) Less combinatorial examples include the ‘piano mover’ problem (see, e.g. [2, 3, 9]) and the several recent papers on collision avoidance, such as [1, 5, 6, 7, 8].

Multiarm Collision Avoidance Using The Potential-Field Approach

Abstract: A general conceptualization of Khatib's potential-field approach to manipulator collision avoidance is presented. The potential-field approach is shown to consist of four algorithms: a. repulsion away from obstacles, an attraction towards a goal, a method of combining these, and a resulting method of incrementing the arm. Alternatives for these algorithms are discussed. A multiple-robot system demonstrating the concepts is presented. The system uses a detailed rigid model of the entire arms and surrounding objects to avoid collisions. The system operates in close to real time, and is demonstrated with two PUMA robots moving concurrently. Results are applicable to any type of anthropomorphic arm, including the Remote Manipulator System.

Helicopter User Survey: Traffic Alert Collision Avoidance System (TCAS)

Abstract: : This document describes the data collection methodology, and the results obtained from the Traffic Alert and Collision Avoidance System (TCAS) user Survey. The survey was conducted during the fall, spring and early summer of 1984. The survey examined helicopter operator and pilot responses in three particular areas of interest: 1) The nature of helicopter Near Mid-Air Collision (NMAC) encounters; 2) Pilot Display Preferences; and 3) User price thresholds for a helicopter TCAS. The survey revealed that only a small percentage of near mid-air collisions involving helicopters are reported, although pilots assert that mid-air collisions pose a significant hazard to flight safety. This report contains breakdowns, by operator group, of significant characteristics of helicopter operations and their associated NMAC hazards which should be addressed in the design of a helicopter specific TCAS.

Collision avoidance between robots operating in the same cell

Abstract: The article discusses the collision avoidance between robots operating in the same cell. The cell controller operates the cell by sending instructions to the individual (local) hardware and robot controllers, the latter as a sequence of subroutines. For multi-robot cells the Route Consultant is an additional requirement. Its function is to interpret the overall status of the cell and thence to advise the cell controller accordingly.