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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01 Oct 2018
TL;DR: The results show that the proposed method leads to proactive and more predictable ASV behavior compared with both Velocity Obstacles (VO) and RVO, especially when obstacles cooperate by following COLREGs.
Abstract: We propose a collision avoidance method that incorporates the interactive behavior of agents and is proactive in dealing with the uncertainty of the future behavior of obstacles. The proposed method considers interactions that will be experienced by an autonomous surface vessel (ASV) in an environment governed by the international regulations for preventing collisions at sea (COLREGs). Our approach aims at encouraging dynamic obstacles to cooperate according to COLREGs. Therefore, we propose a strategy for assessing the cooperative behavior of obstacles, and the result of the assessment is used to adapt collision avoidance decisions within the Reciprocal Velocity Obstacles (RVO) framework. Moreover, we propose a predictive approach to solving known limitations of the RVO framework, and we present computationally feasible extensions that enable the use of complex dynamic models and objectives suitable for ASVs. We demonstrate the performance and potentials of our method through a simulation study, and the results show that the proposed method leads to proactive and more predictable ASV behavior compared with both Velocity Obstacles (VO) and RVO, especially when obstacles cooperate by following COLREGs.
42 citations
42 citations
TL;DR: An intelligent path planning algorithm and a collision avoidance control method of the USV swarm in restricted waters are presented in this paper, which point out that the path is feasible and the USVs swarm can avoid static obstacles as well as moving vessels.
42 citations
Patent•
13 Mar 2008
TL;DR: In this paper, a method of executing a collision avoidance maneuver ahead of an object in the surroundings, with which the vehicle is on a collision course, is described, where the shape of the shape is defined by at least one parameter (a, B, C) depending on the speed of the motor vehicle or a desired maneuver width.
Abstract: Disclosed is a method of executing a collision avoidance maneuver ahead of an object in the surroundings, with which the vehicle is on a collision course. To allow determining the avoiding path in a simplest possible fashion and, in particular, a simplest possible parameterization of the path, the avoiding path is given by a sigmoid (ƒa o (x); ƒa o /2(x); ƒ2a o (x)), the shape of which is defined by at least one parameter (a; B; c) that is determined depending on the speed of the motor vehicle or a desired maneuver width of the collision avoidance maneuver. Also disclosed is a device which is suitable for implementing the method.
42 citations
20 Sep 2010
TL;DR: A velocity-based model for realistic collision avoidance among virtual characters based on the simple hypothesis that an individual tries to resolve collisions long in advance by slightly adapting its motion is presented.
Abstract: We present a velocity-based model for realistic collision avoidance among virtual characters. Our approach is elaborated from experimental data and is based on the simple hypothesis that an individual tries to resolve collisions long in advance by slightly adapting its motion.
42 citations