Collision avoidance

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

Game-Theoretic Modeling of the Steering Interaction Between a Human Driver and a Vehicle Collision Avoidance Controller

Abstract: Development of vehicle active steering collision avoidance systems calls for mathematical models capable of predicting a human driver's response so as to reduce the cost involved in field tests while accelerating product development. This paper provides a discussion on the paradigms that may be used for modeling a driver's steering interaction with vehicle collision avoidance control in path-following scenarios. Four paradigms, namely decentralized, noncooperative Nash, noncooperative Stackelberg, and cooperative Pareto are established. The decentralized paradigm, which is developed on the basis of optimal control theory, represents a driver's interaction with the collision avoidance controllers that disregard driver steering control. The noncooperative Nash and Stackelberg paradigms are used for predicting a driver's steering behavior in response to the collision avoidance control that actively compensates for driver steering action. These two are devised based on the principles of equilibria in noncooperative game theory. The cooperative Pareto paradigm is derived from cooperative game theory to model a driver's interaction with the collision avoidance systems that take into account the driver's target path. The driver and the collision avoidance controllers’ optimization problems and their resulting steering strategies arise in each paradigm are delineated. Two mathematical approaches applicable to these optimization problems namely the distributed model predictive control and the linear quadratic dynamic optimization approaches are described in detail. A case study illustrating a conflict in steering control between driver and vehicle collision avoidance system is performed via simulation. It was found that the variation of driver path-error cost function weights results in a variety of steering behaviors, which are distinct between paradigms.

Safe human-robot-cooperation: image-based collision detection for industrial robots

Abstract: This paper analyzes the problem of sensor-based collision detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is presented. The collision test works entirely based on the images, and does not construct a representation of the Cartesian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.

Vision-Based Obstacle Avoidance for UAVs

Abstract: This paper describes a vision-based navigation and guidance design for UAVs for a combined mission of waypoint tracking and collision avoidance with unforeseen obstacles using a single 2-D passive vision sensor. An extended Kalman fllter (EKF) is applied to estimate a relative position of obstacles from vision-based measurements. The stochastic z-test value is used to solve a correspondence problem between the measurements and the estimates that have been already obtained by then. A collision cone approach is used as a collision criteria in order to examine if there is any obstacle that is critical to the vehicle. A guidance strategy for collision avoidance is designed based on a minimum-efiort guidance (MEG) method for multiple target tracking. The vision-based navigation and guidance designs suggested in this paper are integrated with realtime image processing algorithm and the entire vision-based control system are evaluated in the closed-loop 6 DoF ∞ight simulation.

A hybrid collision avoidance method for mobile robots

Abstract: Proposes a hybrid approach to the problem of collision avoidance for indoor mobile robots. The /spl mu/DWA (model-based dynamic window approach) integrates sensor data from various sensors with information extracted from a map of the environment, to generate collision-free motion. A novel integration rule ensures that with high likelihood, the robot avoids collisions with obstacles not detectable with its sensors, even if it is uncertain about its position. The approach was implemented and tested extensively as part of an installation, in which a mobile robot gave interactive tours to visitors of the "Deutsches Museum Bonn." Here our approach was essential for the success of the entire mission, because a large number of ill-shaped obstacles prohibited the use of purely sensor-based methods for collision avoidance.

Intersection collision avoidance techniques

Abstract: System and method for preventing accidents between first and second vehicles at intersections in which the absolute position and velocity of the first vehicle are determined, map data relating to edges of lanes of roadways, edges of roadways and the location of traffic control devices is stored in a map database and the status of the traffic control devices is provided to the first vehicle when needed. The absolute position and velocity of the second vehicle are determined and a collision between the first and second vehicles is predicted based on the position and velocity of the first and second vehicles, the map data and the status of the traffic control devices. An action or changing operation is initiated by a reactive component or system in the first and/or second vehicle when a collision is predicted.