Topic
Collision avoidance
About: Collision avoidance is a research topic. Over the lifetime, 8014 publications have been published within this topic receiving 111414 citations.
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TL;DR: An AEB system evaluating the ego and conflict vehicle driver's possibilities to avoid a pending crash by either braking or steering was specified for application in various constellations of vehicle collisions.
42 citations
01 Aug 2017
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: An essential ability of an autonomous unmanned surface vessel (USV) is to follow a predefined path in the presence of unknown ocean currents while avoiding collisions with both stationary and dynamic obstacles. This paper combines recent results for path following and collision avoidance for USVs, resulting in a switched guidance system with a designated path following and a collision avoidance mode. The closed-loop system relies on absolute velocity measurements only, and it is shown that a previously suggested guidance law for collision avoidance guarantees tracking of a safe radius about a dynamic obstacle also under the influence of unknown ocean currents. The guidance law is constructed to ensure collision avoidance while following the International Regulations for Preventing Collisions at Sea (COLREGs). Note that this set-based approach is highly generic and may be applied with any combination of methods for path following and collision avoidance. It is proven that the USV evades the obstacles in a COLREGs compliant manner and converges to the desired path in path following mode. Simulations results validate the theoretical results.
42 citations
09 May 2011
TL;DR: A model-based and efficient on-line distance calculation between links of the robot is proposed and a novel method to reduce the vertical angular momentum for a walking biped robot which uses the arm motion is proposed.
Abstract: To simplify the development of new trajectories for a humanoid robot with many joints, the ability to check for potential collisions is crucial. More importantly, to enable online generation of general motions, such as whole-body-motion, collision avoidance must be employed, which is usually more challenging. In this paper, a model-based and efficient on-line distance calculation between links of the robot is proposed. To avoid collisions the results are projected into the null-space term of the inverse-kinematics which is based on the redundancy resolution framework of Liegeois. Additionally, a novel method to reduce the vertical angular momentum for a walking biped robot which uses the arm motion is proposed. It reduces the vertical angular momentum of the walking robot especially for larger steps. Since the method also works in the null-space, it can easily be combined with the proposed collision avoidance scheme. Finally, results for the proposed methods from simulations and experiments with the robot Lola are shown.
42 citations
01 Jun 2002
TL;DR: In this article, an off-line path planning algorithm was developed for industrial robots to improve their accuracy and efficiency by using the distance maps, the inspection of obstacle collision is completed and transformed to the configuration space in terms of the robot joint angles.
Abstract: Instead of using the tedious process of robot teaching, an off-line path planning algorithm has been developed for industrial robots to improve their accuracy and efficiency. Collision avoidance is the primary concept to achieve such goal. By use of the distance maps, the inspection of obstacle collision is completed and transformed to the configuration space in terms of the robot joint angles. On this configuration map, the relation between the obstacles and the robot arms is obvious. By checking the interference conditions, the collision points are indicated with marks and collected into the database. The path planning is obtained based on the assigned marked number of the passable region via wave expansion method. Depth-first search method is another approach to obtain minimum sequences to pass through. The proposed algorithm is experimented on a 6-DOF industrial robot. From the simulation results, not only the algorithm can achieve the goal of collision avoidance, but also save the manipulation steps.
42 citations
12 Oct 2003
TL;DR: A fusion system that combines vision-data from a single forward-looking camera with co-registered radar data for real-time forward collision warning in automobiles is described.
Abstract: We describe a fusion system that combines vision-data from a single forward-looking camera with forward-looking radar data for real-time forward collision warning in automobiles. Our approach employs computer vision techniques to primarily perform the detection and tracking of vehicles and overhead structure. These detections are then fused using a probabilistic framework with co-registered radar data to reliably obtain vehicle azimuth and depth by minimizing false alarms. The resulting detections can then be used as input to any forward collision warning system. Experimental results are presented to illustrate the performance of the algorithm.
42 citations