Collision avoidance

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

Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV

Abstract: The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm. >

Fuzzy logic based collision avoidance for a mobile robot

Abstract: Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem. The fuzzy controller was tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sensory feedback.

Automatic ship collision avoidance using deep reinforcement learning with LSTM in continuous action spaces

Abstract: This paper presents an automatic collision avoidance algorithm for ships using a deep reinforcement learning (DRL) in continuous action spaces. Obstacle zone by target (OZT) is used to compute an area where a collision will happen in the future based on dynamic information of ships. Agents of DRL detects the approach of multiple ships using a virtual sensor called the grid sensor. Agents learned collision avoidance maneuvering through Imazu problem, which is a scenario set of ship encounter situations. In this study, we propose a new approach for collision avoidance with a longer safe passing distance using DRL. We develop a novel method named inside OZT that expands OZT to improve the consistency of learning. We redesign the network using the long short-term memory (LSTM) cell and carried out training in continuous action spaces to train a model with longer safe distance than the previous study. The bow cross range in collision detection proposed in this paper is effective to COLREGs-compliant collision avoidance. The trained model has passed all scenarios of Imazu problem. The model is also validated by a test scenario which includes more ships than each scenario of Imazu problem.

Trajectory Planning and Collision Avoidance Algorithm for Mobile Robotics System

Abstract: The field of autonomous mobile robotics has recently gained many researchers’ interests. Due to the specific needs required by various applications of mobile robot systems, especially in navigation, designing a real time obstacle avoidance and path following robot system has become the backbone of controlling robots in unknown environments. Therefore, an efficient collision avoidance and path following methodology is needed to develop an intelligent and effective autonomous mobile robot system. This paper introduces a new technique for line following and collision avoidance in the mobile robotic systems. The proposed technique relies on the use of low-cost infrared sensors, and involves a reasonable level of calculations, so that it can be easily used in real-time control applications. The simulation setup is implemented on multiple scenarios to show the ability of the robot to follow a path, detect obstacles, and navigate around them to avoid collision. It also shows that the robot has been successfully following very congested curves and has avoided any obstacle that emerged on its path. Webots simulator was used to validate the effectiveness of the proposed technique.

Patterns of Public Behaviour: Collision Avoidance on a Pedestrian Crossing

Abstract: One of the more remarkable aspects of public life in cities is the phenomenon of pedestrian routing. On almost any street corner one may daily witness large numbers of people navigating their courses along the pavements without bumping into each other. What is especially interesting about this complex avoidance behaviour is the apparent ease with which it is effected. Yet it is performed in the absence of an explicit code and with few, if any, individuals being able to specify the procedures whereby they and other people avoid collisions. Despite the everyday nature of pedestrian avoidance behaviour, and the important questions which it raises concerning interpersonal coordination, the phenomenon has not, at least until very recently, received the attention it deserves. Recent investigations in this area have looked at behaviour on pavements. Most of these studies have proceeded from the observation of