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International Core Journal of Engineering 2021年第2期7卷 388-391页

作者： Shuai Sun

With the rapid development of various technologies of unmanned autonomous platforms, research on highly autonomously controlled unmanned ships is a new goal of the shipbuilding and shipping industry. It is of great research significance to improve real-time collision avoidance during unmanned ship navigation. The artificial potential field method is a more mature and efficient algorithm in the real-time collision avoidance algorithm, which allows the moving object to avoid the obstacle while taking into account the moving performance of the moving object. Therefore, it is widely used in real-time obstacle avoidance for mobile robots. For the real-time collision avoidance algorithm of unmanned ships, this paper builds on the gravitational field and repulsive field based on the artificial potential field method. The target point is attractive to the unmanned boat, and the obstacle has repulsive force to the unmanned boat. The unmanned boat moves under the effect of the combined force and keeps approaching the target point. Simulation results show that the unmanned ship real-time collision avoidance algorithm based on artificial potential field method enables the unmanned ship to avoid obstacles quickly and reach the target point.

关键词： Unmanned Ship Real-Time collision avoidance collision avoidance algorithm Artificial Potential Field Method

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Implementing a vision-based collision avoidance algorithm on a UR3 Robot 23

Implementing a vision-based collision avoidance algorithm on...

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23rd International Conference on Mechatronics Technology (ICMT)

作者： Scimmi, Leonardo Sabatino Melchiorre, Matteo Mauro, Stefano Pastorelli, Stefano Paolo Politecn Torino Dept Mech & Aerosp Engn DIMEAS Turin Italy

ISBN: (纸本)9781728139982

Collaborative robotics implies the possibility for robots and humans to cooperate to perform a common task. A fundamental element to make collaboration possible is to ensure the safety of the human operators. In this paper a collision avoidance algorithm designed for a robotic redundant task is presented. This algorithm permits the robot to avoid collisions with obstacles (e.g. human operators) and in the same time to achieve the planned task when possible. The algorithm was tested with a UR3 robot of Universal Robots company, considering only tool centre point (TCP) position in order to obtain kinematic redundancy. The robot is controlled by an external PC that communicates with the controller of the robot via Ethernet network. The communication and control algorithms are written in the Matlab environment. The PC-UR communication functions permit to send joint velocities commands from the PC to the controller of the robot and feedback data from the UR to the PC. Control functions estimate the distances between an obstacle (whose position was acquired by a system of motion capture) and the robot and calculate the needed joints velocities to avoid any collision. The functions developed in Matlab will be explained in detail. Results of the experimental tests conducted to verify the effectiveness of the collision avoidance system are reported.

关键词： collaborative robotics collision avoidance algorithm trajectory planning vision system

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Real-Time collision avoidance algorithm for Surgical Robot Based on OBB Intersection Test 10th

Real-Time Collision Avoidance Algorithm for Surgical Robot B...

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10th International Conference on Intelligent Robotics and Applications (ICIRA

作者： Qiu, Yao Yan, Zhiyuan Miao, Yu Du, Zhijiang Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Heilongjiang Peoples R China

ISBN: (纸本)9783319652894;9783319652887

To improve flexibility and adaptability, a surgical robot normally has a number of arms and redundant degrees of freedom, which may cause collision between robotic arms. In this paper, a real-time collision avoidance algorithm based on OBB (Oriented Bounding Box) intersection test was presented to solve this problem. The cube model of each arm was established based on OBB. According to the distance between any two OBBs, probable collision components can be found. Along with the kinematics of the surgical robot, maximum motion range of each joint can be obtained under the condition of no collision. Then the concept of collision Index was proposed to represent the relationship between the angular position and the maximum motion range of each joint. In order to avoid collision, collision Indexes were used to limit the motion of each joint. Experimental results show that the algorithm is effective and could avoid collision between manipulators.

关键词： collision avoidance algorithm OBB Surgical robot RALP

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Multi-Sensor Based collision avoidance algorithm for Mobile Robot

Multi-Sensor Based Collision Avoidance Algorithm for Mobile ...

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IEEE Long Island Systems, Applications and Technology Conference LISAT

作者： Alajlan, Abrar M. Almasri, Marwah M. Elleithy, Khaled M. Univ Bridgeport Comp Sci & Engn Dept Bridgeport CT 06604 USA

ISBN: (纸本)9781479986446

collision avoidance (CA) systems have been used in wide range of different robotics areas and had extraordinary success in minimizing the risk of collisions. It is a critical requirement in building mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid two or more objects from colliding. The purpose of this paper is to present an algorithm for performing collision avoidance in mobile robot that is relying on the use of low-cost ultrasonic with infrared sensors, and involving some other modules, so that it can be easily used in real-time robotic applications. The proposed algorithm is implemented in multiple scenarios with several obstacles placed in different locations around the robot. Our experimental run shows that the robot has been successfully detecting obstacles and avoiding collisions along its path.

关键词： collision avoidance algorithm robotics control obstacle detection mobile robot

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collision avoidance method of autonomous vehicle based on improved artificial potential field algorithm

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第14期235卷 3416-3430页

作者： Feng, Song Qian, Yubin Wang, Yan Shanghai Univ Engn Sci Sch Mech & Automot Engn Songjiang Campus 8B 601 Shanghai 201620 Peoples R China SAMR Defect Prod Adm Ctr Beijing 100101 Peoples R China

Both emergency braking and active steering are possible choices for collision avoidance manoeuvres, and any obstacle avoidance strategy aims to design a control algorithm preventing accidents. However, the real-time path needs to consider the motion state of surrounding participants on the road. This work presents a collision avoidance algorithm containing the path-planning and the tracking controller. Firstly, the lateral lane-changing spacing model and the longitudinal braking distance model are presented, describing the vehicle to reactively process dynamic scenarios in real environments. Then, we introduce the safety distance into the artificial potential field algorithm (APF), thereby generating a safe path in a simulated traffic scene. Redesigning the influence range of obstacles based on the collision areas and corresponding safety distance compared with the classic APF. Besides, based on the threat level, the repulsion is divided into the force of the position repulsion and the speed repulsion. The former is related to the relative position and prevents the vehicle from approaching the obstacle. The latter is opposite to the relative speed vector and decelerates the ego vehicle. Simultaneously, the attraction is improved to apply a dynamic environment. Finally, we design a model predictive control (MPC) to track the lateral motion through steering angle and a Fuzzy-PID control to track the longitudinal speed, turning the planned path into an actual trajectory with stable vehicle dynamics. To verify the performance of the proposed method, three cases are simulated to obtain the vehicle responding curves. The simulation results prove that the active collision avoidance algorithm can generate a safe path with comfort and stability.

关键词： Autonomous vehicle collision avoidance algorithm safety distance path planning tracking control

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A collision avoidance algorithm Based on the Virtual Target Approach for Cooperative Unmanned Surface Vehicles 22

A Collision Avoidance Algorithm Based on the Virtual Target ...

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22nd Mediterranean Conference on Control and Automation (MED)

作者： Bibuli, Marco Bruzzone, Gabriele Caccia, Massimo Lapierre, Lionel Zereik, Enrica CNR Ist Sistemi Intelligenti Automaz I-16149 Genoa Italy CNRS Lab Informat Robot & Microelect Montpellier F-34392 Montpellier 5 France

ISBN: (纸本)9781479959013

This paper presents a collision avoidance algorithm based on the virtual target path-following guidance technique, developed for Unmanned Surface Vehicle (USV) multi agent frameworks. The proposed collision avoidance procedure is integrated with the distributed guidance module already developed for cooperative and coordinated navigation of USVs, in particular with Cooperative Path Following and Wingmanbased coordination scheme. A basic integration of the collision avoidance system with the COLREGS "Rules of the Road" is proposed too. Results of the overall collision free cooperative system are then presented.

关键词： collision avoidance distributed control mobile robots multi-agent systems multi-robot systems remotely operated vehicles COLREGS Rules of the Road USV multiagent frameworks Wingman- based coordination scheme collision avoidance algorithm collision avoidance system collision free cooperative system cooperative USV navigation cooperative path following cooperative unmanned surface vehicles coordinated USV navigation distributed guidance module unmanned surface vehicle multiagent frameworks virtual target path-following guidance technique collision avoidance Navigation Robot kinematics Safety Surges Vehicles

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Analytical Assessment of Short-Duration Low-Thrust collision-avoidance Maneuvers

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2024年第2期47卷 358-365页

作者： Stroebel, Robert Stoll, Enrico Tech Univ Carolo Wilhelmina Braunschweig Inst Space Syst Hermann Blenk Str 23 D-38108 Braunschweig Germany Tech Univ Berlin Chair Space Technol March Str 12 14 D-10587 Berlin Germany

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Long-Term Fuel-Optimal collision avoidance Maneuvers with Station-Keeping Constraints

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2024年第9期47卷 1855-1871页

作者： Pavanello, Zeno Pirovano, Laura Armellin, Roberto Univ Auckland Te Punaha Atea Space Inst Auckland Cent 20 Symonds St Auckland 1010 New Zealand

This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute high-thrust maneuvers by increasing the maximum available acceleration. Dealing with the long-term conjunction poses additional challenges compared to the short-term problem because the encounter is not instantaneous. Thus, under the assumption of Gaussian statistics, the probability of collision is replaced by a simpler metric, the instantaneous probability of collision (IPoC), and a keep-out zone constraint is formulated as a continuous condition to be respected throughout the time frame of interest. The robustness of the solution is improved by introducing a constraint on the sensitivity of IPoC. Furthermore, the collision avoidance problem is coupled with the classical station-keeping requirement for geostationary Earth orbit satellites and with a return to the nominal orbit condition for low Earth orbit satellites. Even though no guarantee is given for the recovery of the global optimum solution, numerical simulations in different orbital regimes show that the proposed approach can yield a local fuel-optimal solution with a run time suitable for autonomous applications.

关键词： Sequential Convex Programming Mathematical Optimization collision avoidance algorithm Satellite collision Satellite Maneuvers Trajectory Optimization Convex Optimization Spacecraft Control Low Thrust Trajectory

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COBRA-DDP: Trajectory Generation and collision avoidance Augmentations for eVTOL Vehicles

COBRA-DDP: Trajectory Generation and Collision Avoidance Aug...

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AIAA SciTech Forum

作者： Houghton, Matthew D. Acheson, Michael J. Patterson, Andrew Gregory, Irene M. NASA Langley Res Ctr Dynam Syst & Control Branch Hampton VA 23681 USA NASA Langley Res Ctr Adv Control Theory & Applicat Hampton VA 23681 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper presents a receding horizon model predictive control variation of the combined Bernstein polynomial optimal reciprocal collision avoidance (ORCA) differential dynamic programming (COBRA-DDP) algorithm for advanced air mobility (AAM) vehicles. collision avoidance in combination with effective trajectory replanning are expected to be core components of AAM vehicles operating within a crowded airspace. This environment necessitates the use of real-time trajectory planning algorithms that are capable of planning around large numbers of stationary and moving obstacles. Previous work on COBRA-DDP demonstrated the capability of the algorithm to produce dynamically feasible trajectories for AAM vehicles and general collision avoidance. This paper improves upon the previous work by increasing the number of stationary and moving obstacles, while implementing a variation of COBRA-DDP that lends itself to real-time application. These advancements are demonstrated on an electric vertical takeoff and landing (eVTOL) vehicle simulation with highly nonlinear vehicle dynamics.

关键词： Aircraft collision avoidance eVTOL Model Predictive Control Advanced Air Mobility Vertical Takeoff and Landing Airspace Real Time Trajectory Planning collision avoidance algorithm Flight Planning Nonlinear Dynamics

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Development of ship collision avoidance system and sea trial test for autonomous ship

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OCEAN ENGINEERING 2022年第Part5期266卷

作者： Kim, Donggyun Kim, Jin-Soo Kim, Jung-Hyun Im, Nam-Kyun Mokpo Natl Maritime Univ 91 Haeyangdaehak Ro Mokpo 58628 Jeollanam Do South Korea Samsung Heavy Ind Smart Ship Res 217 Munji Ro Daejeon 695014 South Korea

Developing Maritime Autonomous Surface Ship technology is a challenging task as it requires the convergence of technologies in various fields, such as optimal route search algorithm, communication technology, ship maneuvering technology, and onboard equipment. In this study, we developed a Samsung Autonomous Ship (SAS) system for ship collision avoidance. The proposed collision-avoidance algorithm includes collision risk calculation, the isochrone method, and an object function for optimal route searching. The SAS system can visualize the searched optimal route and reflect user parameters in real time. To prove the effectiveness of the SAS system, a sea trial test was conducted using a training ship and tug with lengths of 133 and 38 m, respectively. Experiments in two situations (head-on & crossing situations) were conducted within approximately 15 miles northwest of Gageo Island, Korea. The changes in collision risk, speed, rudder angle, and heading were analyzed. In each experiment, the closest distances between ships were recorded as 1.3 and 1.7 miles, meeting the set value of 1 mile. The maximum cross-track distance was 0.18 miles, and the ship arrived safely at its destination.

关键词： Samsung Autonomous Ship (SAS) system Maritime Autonomous Surface Ship (MASS) technology collision avoidance algorithm Isochrone method Optimal route

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