Collision avoidance

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

Collision avoidance in dynamic environments: An ICS-based solution and its comparative evaluation

Abstract: This paper presents ICS-AVOID, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), ie a state for which, no matter what the future trajectory of the robotic system is, a collision eventually occurs. By design, ICS-AVOID can handle dynamic environments since ICS do take into account the future behaviour of moving objects. ICS-AVOID is designed to keep the system away from ICS. By doing so, motion safety is guaranteed (by definition a robotic system in a non-ICS state has at least one collision-free trajectory that it can use). To demonstrate the efficiency of ICS-AVOID, it has been extensively compared with two state-of-the-art collision avoidance schemes: the first one is built upon the Dynamic Window approach and the second one on the Velocity Obstacle concept. The results obtained show that, when provided with the same amount of information about the future evolution of the environment, ICS-AVOID outperforms the other two schemes. The first reason for this has to do with the extent to which each collision avoidance scheme reasons about the future. The second reason has to do with the ability of each collision avoidance scheme to find a safe control if one exists. ICS-AVOID is the only one which is complete in this respect thanks to the concept of Safe Control Kernel.

Comparative evaluation of range sensor accuracy in indoor environments

Abstract: 3D range sensing is one of the important topics in robotics, as it is often a component in vital autonomous subsystems like collision avoidance, mapping and semantic perception. The development of ...

The skeleton algorithm for self-collision avoidance of a humanoid manipulator

Abstract: For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed for the real-time generation of self-collision avoidance motions, where only proprioceptive sensory data are needed. The algorithm is applied to the DLR humanoid manipulator Justin, and a joint-torque control is used, where the collision avoidance torques are summed to the desired torques corresponding to other tasks; experimental results are reported.

Nonlinear MPC for Collision Avoidance and Control of UAVs With Dynamic Obstacles

Abstract: This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully p ...

Cognitive Demands of Collision Avoidance in Simulated Ship Control

Abstract: The study examines the cognitive demands of collision avoidance under a range of maritime scenarios. Operators used a PC-based radar simulator to navigate set courses over 100 6-min trials varying in collision threat and traffic density. Corrective maneuvers were made through the application of standard navigation rules and by using two decision aids (target acquisition and test maneuver). Results showed widespread effects of collision threat in terms of decision aid use, subjective workload, and secondary task performance. Most notably, demand increased markedly over the course of emergency trials, in which collision threat resulted from rule violation by target vessels. The findings are discussed in terms of the comparison between predictable demands (requiring standard course changes) and those involving uncertainty about the others' intentions (involving more intensive monitoring and forced delays in corrective action). The study has relevance for the design of collision avoidance systems, specifically for the use of ecological displays.