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: In this article, Collision avoidance and stabilisation are two of the most crucial concerns when an autonomous vehicle finds itself in emergency situations, which usually occur in a short time horizon and require l...
Abstract: Collision avoidance and stabilisation are two of the most crucial concerns when an autonomous vehicle finds itself in emergency situations, which usually occur in a short time horizon and require l...
86 citations
19 May 2008
TL;DR: A real-time implementation of collision and self-collision avoidance for robots on the basis of a new proximity distance computation method which ensures having continuous gradient, a new controller in the velocity domain is proposed.
Abstract: This paper proposes a real-time implementation of collision and self-collision avoidance for robots. On the basis of a new proximity distance computation method which ensures having continuous gradient, a new controller in the velocity domain is proposed. The gradient continuity encompasses no jump in the generated command. Included in a stack of tasks architecture, this controller has been implemented on the humanoid platform HRP-2 and experienced in a grasping task while walking and avoiding collisions with the environment and auto-collisions.
86 citations
TL;DR: Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs.
Abstract: This paper presents a feasible 3D collision avoidance approach for fixed-wing unmanned aerial vehicles (UAVs) The proposed strategy aims to achieve the desired relative bearing in the horizontal plane and relative elevation in the vertical plane so that the host aircraft is able to avoid collision with the intruder aircraft in 3D The host aircraft will follow a desired trajectory in the collision avoidance course and resume the pre-arranged trajectory after collision is avoided The approaching stopping condition is determined for the host aircraft to trigger an evasion maneuver to avoid collision in terms of measured heading A switching controller is designed to achieve the spatial collision avoidance strategy Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs
86 citations
24 Aug 2016
TL;DR: The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots.
Abstract: Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots.
86 citations
TL;DR: A new type of vision-based autonomous robotic fish capable of 3-D locomotion is developed in this paper, and a situated-behavior-based decentralized control method is employed on each robotic fish according to its visual data.
Abstract: A new type of vision-based autonomous robotic fish capable of 3-D locomotion is developed in this paper. Based on our robotic fish prototype, the forces and moments acting on its fins and body are analyzed, and the governing motion equations are derived. We further investigate a decentralized control method in target-tracking and collision-avoidance task for two autonomous robotic fish. Most of previous work on the task strategies of autonomous robots is focused on terrestrial robots and seldom deals with underwater applications due to the uncertainties and complexity in a hydro environment. To address this challenge in such an underwater task, a situated-behavior-based decentralized control is employed on each robotic fish according to its visual data. On dealing with motion planning of the fish during target tracking and collision avoidance, a control law by a combination of an attractive force toward a target and a repulsive force for collision avoidance is utilized. Experimental results of the task performed by two autonomous robotic fish validate the effectiveness of the proposed method.
85 citations