Topic
Collision avoidance system
About: Collision avoidance system is a research topic. Over the lifetime, 1788 publications have been published within this topic receiving 23667 citations.
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TL;DR: In this article, a collision avoidance system of a quadrotor capable of an indoor autonomous flight was developed using the prediction error minimization (PEM) method and the linear quadratic regulator (LQR) control method.
Abstract: Purpose – The purpose of this paper was to present the process of building hardware and software for a collision avoidance system of a quadrotor capable of an indoor autonomous flight. Design/methodology/approach – The system development was carried out in two steps. First, the quadrotor system was designed to mount mission equipments for an indoor flight. The prediction error minimization (PEM) method was used for system identification of the quadrotor, and the linear quadratic regulator (LQR) control method was used for the attitude control. Second, a collision detection system was realized by using a Kinect sensor, an embedded board and a ground control system (GCS). A Kinect sensor with embedded board can send the 3D depth information to GCS and then the GCS displays the 3D depth information with a warning message. Findings – As the controller design requires a linear model, the PEM method was used in system identification. The LQR was used in controller design. It was found that the use of the PEM me...
11 citations
01 Nov 1989
TL;DR: In this article, the authors present a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions, which is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type.
Abstract: The paper presents a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions. The method described is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type, and provides collision detection in real time.
11 citations
TL;DR: In this paper, a collision avoidance system for cooperative motion control of multiple autonomous marine vehicles is proposed, taking explicitly into account collision avoidance in dynamic environments, where collision prediction aims at estimating the most probable trajectory of a given obstacle and collision avoidance is achieved by controlling the speed of each vehicle along its assigned path or through path re-planing using harmonic potential fields.
11 citations
14 Apr 2013
TL;DR: A new way to determine the intrinsic stiffness, even when the operator needs to exert forces on the control inceptor, is described here, which uses wide bandwidth perturbation signal in the NMS identification.
Abstract: We describe initial steps in the design of a haptic shared control system for obstacle avoidance in unmanned aerial vehicle (UAV) teleoperation. In the considered scenario, the operator is supported by force feedback on the control interface, by which a seamless integration of his commands and the assistance from an automatic collision avoidance system is created. To find proper tuning for this haptic shared control system, analysis of the operator's neuromuscular system is used as a guideline. Relevant properties of human NMS are discussed together with corresponding choices for tuning of the haptic shared control system. Tuning the system for the intrinsic stiffness is selected here, to ensure that during teleoperation only the minimal physical workload of the operator is required. A new way to determine the intrinsic stiffness, even when the operator needs to exert forces on the control inceptor, is described here. Proposed method uses wide bandwidth perturbation signal in the NMS identification. In this way natural reflexive feedback paths are suppressed which allows to determine the intrinsic stiffens of the operator arm. The method is discussed in details and experimental results are shown. The paper then presents results of a NMS identification experiment with 10 participants. The procedure resulted in a set of representative frequency responses functions for the NMS stiffness, on the basis of which the haptic feedback for the UAV can be tuned.
11 citations
Dissertation•
01 Jan 2013
TL;DR: In this paper, the authors developed and simulated a collision avoidance system for a vehicle, where both static and dynamic obstacles should be considered, and the purpose of the thesis was to develop and simulate a collisionavoidance system.
Abstract: Thesis Description: The purpose of the thesis is to develop and simulate a collision avoidance system for a vehicle. Both static and dynamic obstacles should be considered.
11 citations