Collision avoidance

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

Cooperative Collision Avoidance for Overtaking Maneuvers in Cellular V2X-Based Autonomous Driving

Abstract: In this paper, we consider a cooperative autonomous driving system where a vehicle overtakes the one in front based on collective perception. To avoid collisions with vehicles on the other lane, we propose a V2X-based cooperative collision avoidance scheme. The overtaking vehicle estimates the distance between itself and the neighbors via V2V communications and decides whether to overtake or not. Two cases where the distance information is obtained independently and cooperatively are taken into account. We derive the probability of collision avoidance and analyze the influence of different factors such as speed and density of vehicles on the system performance. Simulation results verify our analysis and show that our V2X-based cooperative collision avoidance scheme performs better than traditional GNSS-based collision avoidance scheme. The performance gain brought by the cooperative case compared to the independent case in our scheme can also be observed.

MPC-Based mid-level collision avoidance for asvs using nonlinear programming

Abstract: In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static and moving obstacles, and following of a desired nominal trajectory if there is no danger of collision. We compare two alternative objective functions, where one is a quadratic function and the other is a nonlinear function designed to produce maneuvers observable for other vessels in compliance with rule 8 of the International Regulations for Preventing Collisions at Sea (COLREGS). The algorithm is implemented in the CASADI framework and uses the IPOPT solver. The performance of the algorithm is evaluated through simulations which show promising results. Furthermore, the algorithm is considered computationally feasible to run in real time. This algorithm serves as a base algorithm for further development in order to ensure full COLREGS compliance.

Intelligent obstacle avoidance control strategy for wheeled mobile robot

Abstract: This paper presents intelligent strategies for a wheeled mobile robot to avoid obstacle and move to target location. The obstacle detection for the wheeled mobile robot is carried out by ultrasonic sensors. There are two models in this study, short-distance obstacle avoidance model and target-driven obstacle avoidance model. In short-distance obstacle avoidance model, the wheeled mobile robot utilizes signals of the ultrasonic sensors to avoid obstacle. In target-driven obstacle avoidance model, fuzzy theory with sensor signals is used to control the speed of the wheeled mobile robot and make it move to target location. In this study, software simulations are made on the MATLAB platform. Both obstacle avoidance models are successfully performed.

Aggressive collision avoidance with limited field-of-view sensing

Abstract: Quadrotors that navigate through unknown, cluttered environments have only recently begun to emerge following the development of small form-factor sensing and computing hardware and computationally efficient collision avoidance algorithms. Computation time of planning algorithms has significantly decreased in part to using local information as opposed to using a global map for collision avoidance. Safe planning with local information, however, restricts the direction of travel to remain within the perception system's field-of-view (FOV). The vehicle's motion becomes more constrained with body-mounted narrow FOV sensors, reducing vehicle maneuverability and speed. This work presents a relaxed-constraint Model Predictive Control framework that allows motions outside the perception FOV with guaranteed safety. The key aspect of this approach is the ability to safely choose a motion primitive generated in the past. Simulation and hardware results shows the new framework improves time to goal and flight path efficiency in environments with varying levels of clutter.

A Review on Collision Avoidance Systems for Unmanned Aerial Vehicles

Abstract: Unmanned Aerial Vehicles (UAVs) have seen an important growth in various military and civilian applications including surveillance, reconnaissance, homeland security and forest fire monitoring. Currently, UAVs are limited in their access to the civil airspace. The chief barrier confronting the routine and safe integration of UAVs into the civil airspace is their lack of an effective and standardized collision avoidance system. This paper presents a survey on collision avoidance systems for UAVs. We analyze the fundamental functions conducted by a collision avoidance system and review significant recent researches treating each function.