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Collision avoidance

About: Collision avoidance is a research topic. Over the lifetime, 8014 publications have been published within this topic receiving 111414 citations.


Papers
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Proceedings ArticleDOI
03 Dec 2010
TL;DR: A method to estimate a pedestrian's behavior is proposed and, based on the estimation, smooth collision avoidances between a robot and a human are realized.
Abstract: In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using a laser range finder and tracks them by a Kalman filter. We apply the social force model to the observed trajectory for a determination whether the pedestrian intends to avoid a collision with the robot or not. The robot selects an appropriate behavior based on the estimation results. We conducted experiments that a robot and a person pass each other. Through the experiments, the usefulness of the proposed method was demonstrated.

50 citations

Journal ArticleDOI
TL;DR: The results demonstrate that the deep reinforcement learning-based method can learn an effective driving policy for pedestrian collision avoidance with a fast convergence rate and can avoid potential pedestrian collisions through flexible policies in typical scenarios, therefore improving driving safety.

50 citations

16 May 2010
TL;DR: An algorithm that detects vehicles at night using a camera by searching for tail lights is presented, and an image processing system that can reliably detect vehicles at different distances and in different weather and lighting conditions is developed.
Abstract: Automated detection of vehicles in front can be used as a component of systems for forward collision avoidance and mitigation. When driving in dark conditions, vehicles in front are generally visible by their tail and brake lights. We present an algorithm that detects vehicles at night using a camera by searching for tail lights. Knowledge of colour, size, symmetry and position of rear facing vehicle lights, taken from relevant legislation, is exploited. We develop an image processing system that can reliably detect vehicles at different distances and in different weather and lighting conditions.

50 citations

Proceedings ArticleDOI
17 Dec 2015
TL;DR: A sensorless collision detection method that detects the collision between robots and humans by identifying the external torques applied to the robot without using extra sensors.
Abstract: As there have been many attempts for human-robot collaborations, various solutions to collision detection have been proposed in order to deal with safety issues. However, existing methods for collision detection include the usage of skin sensors or joint torque sensors, and cannot be applied to robots without these sensors such as industrial manipulators. In this study we propose a sensorless collision detection method. The proposed method detects the collision between robots and humans by identifying the external torques applied to the robot. Without using extra sensors, we observed the joint friction model and motor current. We have formulated the friction model for the robot by using the dynamics of the robot and the observer based on the generalized momentum. In addition, formulation of the friction model and the identification scheme did not include any use of extra sensors. The performance of the proposed collision detection method was evaluated using a 7 DOF manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot arm.

50 citations

Proceedings ArticleDOI
21 Jun 2016
TL;DR: This paper extends recent results in set-based guidance theory to an underactuated surface vessel, resulting in a switched guidance system with a path following mode and a collision avoidance mode that can be used with any combination of path following and collision avoidance guidance laws.
Abstract: A cornerstone ability of an autonomous unmanned surface vessel (USV) is to avoid collisions with stationary obstacles and other moving vehicles while following a predefined path. USVs are typically underactuated, and this paper extends recent results in set-based guidance theory to an underactuated surface vessel, resulting in a switched guidance system with a path following mode and a collision avoidance mode. This system can be used with any combination of path following and collision avoidance guidance laws. Furthermore, a specific guidance law for collision avoidance is suggested that ensures tracking of a safe radius about a moving obstacle. The guidance law is specifically designed to assure collision avoidance while abiding by the International Regulations for Preventing Collisions at Sea (COLREGs). It is proven that the USV successfully circumvents the obstacles in a COLREGs compliant manner and that path following is achieved in path following mode. Simulations results confirm the effectiveness of the proposed approach.

50 citations


Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20242
2023547
20221,269
2021503
2020621
2019661