Collision avoidance

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

A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

Abstract: This paper proposes a three-dimensional force field (3D-F 2 ) method for efficient motion planning and collision avoidance of a 6DOF manipulator in complex and dynamic environments while keeping the planned end-effector’s path and speed unchanged. The 3D-F 2 is defined as ellipsoid shapes covering selected links of a manipulator. When the manipulator moves and its ellipsoid force field approaches to an obstacle in a tolerant range, a repulsive force will be generated and considered in the robot kinematic and dynamic analyses. In infrastructure maintenance, spray-painting and sand-blasting operations require that the operating spot “moves” smoothly and continuously along planned path on a work surface at a constant speed, and allow changes in length and orientation of the spray/blasting stream. Thus, the stream is supposed to be another link and the end of stream performs as a spherical joint fixed on the target surface. Various simulations in a construction area show that the 3D-F 2 can retain the operating path and effectively avoid potential collisions.

Collision avoidance system for use by motor vehicles equipped with an inter-vehicle communications system so that if a vehicle comes too close or is moving too quickly a warning is triggered in both of the vehicles involved

Abstract: Method for avoidance of collisions amongst road traffic wherein signals transmitted by an inter-vehicle communication system are detected and if a vehicle is approaching with a critical velocity, a reaction is triggered in both of the concerned vehicles. Independent claims are made for: a collision avoidance warning device, with a receiver that detects signals from other vehicles in an inter-vehicle communication system and analyses them to detect a critical approach of another vehicle in order to trigger a warning in both the concerned vehicles; and a method for generation of a security zone around a number of moving vehicles that are transmitting inter-vehicle communications signals. The zone can be extended to creation of an electronic buffer zone along the edges of pavements, etc. that generates a warning to pedestrians, cyclists, etc.

Foresight and reconsideration in hierarchical planning and execution

Abstract: We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and take advantage of new opportunities. It also provides mechanisms for looking ahead into future plans to avoid making short-sighted choices. The effectiveness of this architecture is shown through comparative experiments in simulation and demonstrated on a real PR2 robot.

Unified decision making and control for highway collision avoidance using active front steer and individual wheel torque control

Abstract: Collision avoidance is a crucial function for all ground vehicles, and using integrated chassis systems to support the driver presents a growing opportunity in active safety. With actuators such as in-wheel electric motors, active front steer and individual wheel brake control, there is an opportunity to develop integrated chassis systems that fully support the driver in safety critical situations. Here we consider the scenario of an impending frontal collision with a stationary or slower moving vehicle in the same driving lane. Traditionally, researchers have approached the required collision avoidance maneuver as a hierarchical scheme, which separates the decision making, path planning and path tracking. In this context a key decision is whether to perform straight-line braking, or steer to change lanes, or indeed perform combined braking and steering. This paper approaches the collision avoidance directly from the perspective of constrained dynamic optimization, using a single optimization procedure to cover these aspects within a single online optimization scheme of model predictive control (MPC). While the new approach is demonstrated in the context of a fully autonomous safety system, it is expected that the same approach can incorporate driver inputs as additional constraints, yielding a flexible and coherent driver assistance system.

Apparatus, program and method for collision avoidance support

Abstract: A collision avoidance support apparatus sets a side area right beside an own vehicle in an adjacent lane as a constant-speed target space, which is used for lane change at a constant speed, and also sets a diagonally-front area and a diagonally-rear area as alt-speed target spaces, which are used for lane change at an accelerated speed and at a decelerated speed. Then, a target space that is free of other vehicles is extracted by the apparatus. If there is no target space that is free of the other vehicles, the lane change is determined as unsafe. If there is no other vehicle in the constant-speed target space, the lane change is determined to be safe at the constant speed. If there is no other vehicle in at least one of the alt-speed target spaces, the lane change is determined to be safe at an accelerated speed or a decelerated speed.