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Collision avoidance

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


Papers
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Journal ArticleDOI
TL;DR: This article describes an investigation of local motion planning, or collision avoidance, for a set of decision-making agents navigating in 3D space, which builds on the concept of velocity obstacles, which characterizes the set of trajectories that lead to a collision between interacting agents.
Abstract: This article describes an investigation of local motion planning, or collision avoidance, for a set of decision-making agents navigating in 3D space. The method is applicable to agents which are heterogeneous in size, dynamics and aggressiveness. It builds on the concept of velocity obstacles (VO), which characterizes the set of trajectories that lead to a collision between interacting agents. Motion continuity constraints are satisfied by using a trajectory tracking controller and constraining the set of available local trajectories in an optimization. Collision-free motion is obtained by selecting a feasible trajectory from the VO's complement, where reciprocity can also be encoded. Three algorithms for local motion planning are presented--(1) a centralized convex optimization in which a joint quadratic cost function is minimized subject to linear and quadratic constraints, (2) a distributed convex optimization derived from (1), and (3) a centralized non-convex optimization with binary variables in which the global optimum can be found, albeit at higher computational cost. A complete system integration is described and results are presented in experiments with up to four physical quadrotors flying in close proximity, and in experiments with two quadrotors avoiding a human.

139 citations

Patent
18 Jul 2000
TL;DR: In this paper, the authors present a visual mobility assist device which provides a conformal, augmented display to assist a moving body in either lane keeping or collision avoidance, or both.
Abstract: The present invention is directed to a visual mobility assist device which provides a conformal, augmented display to assist a moving body. When the moving body is a motor vehicle, for instance (although it can be substantially any other body), the present invention assists the driver in either lane keeping or collision avoidance, or both. The system can display objects such as lane boundaries, targets, other navigational and guidance elements or objects, or a variety of other indicators, in proper perspective, to assist the driver.

138 citations

Journal ArticleDOI
TL;DR: The findings show that the proposed system, which is tested in 2-h field trials in a real world environment, not only is perceived as comfortable by pedestrians but also yields safer navigation than traditional collision-free methods, since it better fits the behavior of the other pedestrians in the crowd.
Abstract: Safe navigation is a fundamental capability for robots that move among pedestrians. The traditional approach in robotics to attain such a capability has treated pedestrians as moving obstacles and provides algorithms that assure collision-free motion in the presence of such moving obstacles. In contrast, recent studies have focused on providing the robot not only collision-free motion but also a socially acceptable behavior by planning the robot’s path to maintain a “social distance” from pedestrians and respect their personal space. Such a social behavior is perceived as natural by the pedestrians and thus provides them a comfortable feeling, even if it may be considered a decorative element from a strictly safety oriented perspective. In this work we develop a system that realizes human-like collision avoidance in a mobile robot. In order to achieve this goal, we use a pedestrian model from human science literature, a version of the popular Social Force Model that was specifically designed to reproduce conditions similar to those found in shopping malls and other pedestrians facilities. Our findings show that the proposed system, which we tested in 2-h field trials in a real world environment, not only is perceived as comfortable by pedestrians but also yields safer navigation than traditional collision-free methods, since it better fits the behavior of the other pedestrians in the crowd.

138 citations

Patent
27 Jan 2011
TL;DR: In this article, the authors describe a master electronic circuit that includes a storage (300) representing a wireless collision avoidance networking process (332) involving collision avoidance overhead and combined with a schedulable process (345) including a serial data transfer process and a scheduler, a wireless modem (350) operable to transmit and receive wireless signals for the networking process, and a processor (320) coupled with the storage (324) and with the wireless modem(350) and operability to execute the scheduler to establish and transmit a schedule (110) for plural serial data
Abstract: A master electronic circuit (300) includes a storage (324) representing a wireless collision avoidance networking process (332) involving collision avoidance overhead and combined with a schedulable process (345) including a serial data transfer process and a scheduler, a wireless modem (350) operable to transmit and receive wireless signals for the networking process (332), and a processor (320) coupled with the storage (324) and with the wireless modem (350) and operable to execute the scheduler to establish and transmit a schedule (110) for plural serial data transfers involving the processor (320) and distinct station identifications, and to execute the serial data transfers inside the wireless networking process and according to the schedule so as to avoid at least some of the collision avoidance overhead. Other electronic circuits, processes of making and using, and systems are disclosed.

137 citations

Journal ArticleDOI
TL;DR: A bounded control law for nonholonomic systems of unicycle-type is reported on that satisfactorily drive a vehicle along a desired trajectory while guaranteeing a minimum safe distance from another vehicle or obstacle at all times.
Abstract: Nowadays, autonomously operated nonholonomic vehicles are employed in a wide range of applications, ranging from relatively simple household chores (e.g. carpet vacuuming and lawn mowing) to highly sophisticated assignments (e.g. outer space exploration and combat missions). Each application may require different levels of accuracy and capabilities from the vehicles, yet, all expect the same critical outcome: to safely complete the task while avoiding collisions with obstacles and the environment. Herein, we report on a bounded control law for nonholonomic systems of unicycle-type that satisfactorily drive a vehicle along a desired trajectory while guaranteeing a minimum safe distance from another vehicle or obstacle at all times. The control law is comprised of two parts. The first is a trajectory tracking and set-point stabilization control law that accounts for the vehicle's kinematic and dynamic constraints (i.e. restrictions on velocity and acceleration). We show that the bounded tracking control law enforces global asymptotic convergence to the desired trajectory and local exponential stability of the full state vector in the case of set-point stabilization. The second part is a real-time avoidance control law that guarantees collision-free transit for the vehicle in noncooperative and cooperative scenarios independently of bounded uncertainties and errors in the obstacles' detection process. The avoidance control acts locally, meaning that it is only active when an obstacle is close and null when the obstacle is safely away. Moreover, the avoidance control is designed according to the vehicle's acceleration limits to compensate for lags in the vehicle's reaction time. The performance of the synthesized control law is then evaluated and validated via simulation and experimental tests.

135 citations


Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20242
2023547
20221,269
2021503
2020621
2019661