Collision avoidance

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

Optimal evasive maneuvers in maritime collision avoidance

Abstract: Evasive maneuvers are determined for each of two potentially colliding ships, such that their miss distance is maximized, these maneuvers are frequently contrary to the established rules of the road. It is assumed that the ship speeds are constant during the encounter, and that the turn-rates of the ships are bounded between symmetrical limits, corresponding to hard right and hard left turns. The optimal turn directions are found to be explicit functions of the range, bearing and heading between the two ships. The cooperative case, when both ships maneuver, and the noncooperative, when only one ship maneuvers, are both analyzed. Examples of the optimal maneuvers for two identical ships are presented in detail.

Collision avoidance for persistent monitoring in multi-robot systems with intersecting trajectories

Abstract: Persistent robot tasks such as monitoring and cleaning are concerned with controlling mobile robots to act in a changing environment in a way that guarantees that the uncertainty in the system (due to change and to the actions of the robot) remains bounded for all time. Prior work in persistent robot tasks considered only robot systems with collision-free paths that move following speed controllers. In this paper we describe a solution to multi-robot persistent monitoring, where robots have intersecting trajectories. We develop collision and deadlock avoidance algorithms that are based on stopping policies, and quantify the impact of the stopping times on the overall stability of the speed controllers.

Automated Conflict Resolution Utilizing Probability Collectives Optimizer

Abstract: Rising manned air traffic and deployment of unmanned aerial vehicles in complex operations requires integration of innovative and autonomous conflict detection and resolution methods. In this paper, the task of conflict detection and resolution is defined as an optimization problem searching for a heading control for cooperating airplanes using communication. For the optimization task, an objective function integrates both collision penalties and efficiency criteria considering airplanes' objectives (waypoints). The probability collectives optimizer is used as a solver for the specified optimization task. This paper provides two different implementation approaches to the presented optimization-based collision avoidance: 1) a parallel computation using multiagent deployment among participating airplanes and 2) semicentralized computation using the process-integrated-mechanism architecture. Both implementations of the proposed algorithm were implemented and evaluated in a multiagent airspace test bed AGENTFLY. The quality of the solution is compared with a negotiation-based cooperative collision avoidance method - an iterative peer-to-peer algorithm.

Comparison of Collision Avoidance Systems and Applicability to Rail Transport

Abstract: The paper presents an overview of the state of the art in collision avoidance related with transportation systems like the automatic identification system (AIS) for maritime transportation, traffic alert and collision avoidance system/automatic dependent surveillance-broadcast (TCAS/ADS-B) for aircraft, and the car-2-car communication system (C2C) for road transportation. The examined systems rely on position detection and direct communication among vehicles. Alike a collision avoidance system for railway transportation "RCAS" is introduced. Focussing on the communication aspects, possible applicability of the examined state of the art systems to RCAS is studied. The analysis are performed at different communication system layers, namely application (APP) layer, media access control (MAC) layer and physical layer (PHY), which are the most relevant for a single hop network broadcast system as favorized in RCAS. Since multihop and addressed communication are not foreseen in a first RCAS approach, the network layer is not taken into account.

Combined short range and long range communication for traffic analysis and collision avoidance

Abstract: A method and system for combining short range communication and long range communication for traffic related applications is presented. In one example, a central server is equipped and configured to receive information via long range communication from one or more individual traffic objects, analyze the received information to determine the short range communication needs, if any, between an identified subset of traffic objects and then initiate short range communication between the traffic objects in the identified subset of traffic objects.