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: A comparative study undertaken with a random walk method indicates that the proposed approach provides a better option for tailoring the autopilots of future AVs, while also promising to be more socially acceptable and trustworthy regarding safe road travel.
38 citations
TL;DR: In this paper , a review explores the path planning algorithms of autonomous maritime vehicles and their collision regulation relevance in order to reveal how the research community handles this issue, and the relevant findings point out that there are still many traffic rules to be dealt with by path-planning algorithms.
38 citations
05 Mar 2011
TL;DR: In this paper, the problem of collision avoidance with moving obstacles for unmanned aerial vehicles is solved using a direct method, meaning the problem is transcripted to a nonlinear programming problem and solved with an optimization method.
Abstract: This paper addresses the problem of collision avoidance with moving obstacles for unmanned aerial vehicles. It is assumed that obstacle detection and tracking can be achieved 60 seconds prior to collision. Such a time horizon allows on-board trajectory re-planning with updated constraints due to intruder and ownship dynamics. This trajectory generation problem is solved using a direct method, meaning the problem is transcripted to a nonlinear programming problem and solved with an optimization method. The main challenge in trajectory generation framework is to reliably provide a feasible (safe and flyable) trajectory within a deterministic time. In order to improve the method's reliability, a Monte Carlo analysis is used to investigate the convergence properties of the optimization process, the properties of the generated trajectories and their effectiveness in obstacle avoidance. The results show that the method is able to converge to a feasible and near-optimal trajectories within two seconds, except in very restrictive cases. Moreover, the dynamic feasibility of the generated trajectories is verified with nonlinear simulations, where the trajectory generation is integrated with the six degree-of-freedom nonlinear model of a fixed-wing research vehicle developed at Cranfield University. The results show that the generated trajectories can be tracked with a proposed two-degree-of-freedom control scheme. The improved convergence, fast computation and assured dynamic feasibility pave the way for on-board implementation and flight testing.
38 citations
07 Jul 1992
TL;DR: This paper describes an approach using a sonar system that was implemented for the autonomous land vehicle Navlab that can track a static feature such as a rail, wall or an array of parked cars and use this information to drive the vehicle.
Abstract: Abstruct - Detecting unexpected obstacles and avoiding collisions is an important task for any autonomous mobile system. This paper describes an approach using a sonar system that we implemented for the autonomous land vehicle Navlab. The general hardware configuration of the system is shown, followed by a description of how the system builds a local grid map of its environment. The information collected in the map can then be used for a variety of applications in vehicle navigation like collision avoidance, feature tracking and parking. A simple algorithm was implemented that can track a static feature such as a rail, wall or an array of parked cars and use this information to drive the vehicle. Methods for filtering the raw data and generating the steering commands are discussed and the implementation for collision avoidance and its integration with other vehicle systems is described. I. INTRODUCTION The autonomous land vehicle Navlab has already successfully been driven on roads and cross country. Different sensors are used to perceive the structure of the environment and navigate the vehicle under a variety of conditions as described for example in [SI. The sensors mainly employed so far were colour video
38 citations
14 Jun 2004
TL;DR: This paper derives and evaluates various approximations that are needed in order to deal with the non-linearities that are introduced by an approach to detection and tracking of other vehicles and lane geometry.
Abstract: Detection and tracking of other vehicles and lane geometry will be required for many future intelligent driver assistance systems. By integrating the estimation of these two features into a single filter, a more optimal utilization of the available information can be achieved. For example, it is possible to improve the lane curvature estimate during bad visibility by studying the motion of other vehicles. This paper derives and evaluates various approximations that are needed in order to deal with the non-linearities that are introduced by such an approach.
38 citations