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Research on obstacle detection and avoidance of Autonomous Underwater Vehicle Based on Forward-Looking Sonar

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023年第11期34卷 9198-9208页

作者： Cao, Xiang Ren, Lu Sun, Changyin Anhui Univ Sch Artificial Intelligence Hefei 230601 Peoples R China Southeast Univ Sch Automat Nanjing 210096 Peoples R China

Due to the complexity of the ocean environment, an autonomous underwater vehicle (AUV) is disturbed by obstacles when performing tasks. Therefore, the research on underwater obstacle detection and avoidance is particularly important. Based on the images collected by a forward-looking sonar on an AUV, this article proposes an obstacle detection and avoidance algorithm. First, a deep learning-based obstacle candidate area detection algorithm is developed. This algorithm uses the You Only Look Once (YOLO) v3 network to determine obstacle candidate areas in a sonar image. Then, in the determined obstacle candidate areas, the obstacle detection algorithm based on the improved threshold segmentation algorithm is used to detect obstacles accurately. Finally, using the obstacle detection results obtained from the sonar images, an obstacle avoidance algorithm based on deep reinforcement learning (DRL) is developed to plan a reasonable obstacle avoidance path of an AUV. Experimental results show that the proposed algorithms improve obstacle detection accuracy and processing speed of sonar images. At the same time, the proposed algorithms ensure AUV navigation safety in a complex obstacle environment.

关键词： Sonar Sonar detection Collision avoidance Sonar navigation Feature extraction Image segmentation detection algorithms Autonomous underwater vehicle (AUV) forward-looking sonar obstacle detection and avoidance path planning

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Validation of an eBAT as a mobility aid for blind people

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ASSISTIVE TECHNOLOGY 2022年第2期34卷 195-203页

作者： Abreu, David Codina, Benito Toledo, Jonay Suarez, Arminda Univ La Laguna Comp Sci & Syst Dept San Cristobal la Laguna Spain Univ La Laguna Didact & Educ Res Dept San Cristobal la Laguna Spain Univ La Laguna Dev Psychol & Educ Dept San Cristobal la Laguna Spain

One of the challenges faced by blind persons to achieve optimal mobility is the detection and avoidance of obstacles located in their travel path. Besides the widely used white cane, alternative or complementary devices have been developed, such as electronic aids that provide feedback about the environment. However, the devices available have been unable to provide an optimal solution with widespread acceptance, motivating the present work. The eBAT (electronic Buzzer for Autonomous Travel) is designed to offer optimal protection and employs the user's own mobile phone for easier use and reduced manufacturing costs. For this work, a group of 25 blind individuals was used to validate the eBAT based on the single-subject with reversal method (ABA study). The results show a significant decrease in the number of involuntary contacts in an unknown travel path between the first phase of the study, which did not involve the eBAT, and the second, where it was used. When the device was again removed in the third phase, the number of contacts rose. We may therefore conclude that the eBAT fills an important gap in mobility aids for blind people, yielding a clear benefit by reducing the participants' feeling of insecurity.

关键词： electronic aids obstacle detection and avoidance ultrasonic visual disability

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Autonomous Navigation of Underwater Vehicle with Static and Dynamic obstacles using PTEM

Autonomous Navigation of Underwater Vehicle with Static and ...

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IEEE SoutheastCon Conference

作者： Brown, Braylee Sevil, Hakki Erhan Naval Surface Warfare Ctr Panama City Div Panama City FL 32407 USA Univ West Florida Dept Intelligent Syst & Robot Pensacola FL 32514 USA

ISBN: (纸本)9781665476119

Mapping for navigation in underwater environments can be a challenge due to water clarity, bottom types, sonar resolution, clutter, and a host of other environmental conditions. Combining these issues with the localization challenges of operating without the use of GPS and relying on dead reckoning makes navigation of autonomous underwater vehicles extremely complex. This paper looks at the environment and obstacle representation for an autonomous underwater vehicle (AUV) in two scenarios - one where only static obstacles are present, and another where dynamic ones are introduced. A coordinate-based traditional method of supplying the obstacle's x and y location is used as a baseline and the Probabilistic Threat Exposure Map (PTEM) method is implemented to improve the navigation of the AUV through various environments. Using computer simulations, the AUV navigates through three different maps both with and without the presence of a moving obstacle using both the coordinate-based traditional method of obstacle representation and the PTEM method. Performance metrics of position error, path length, map generation time, and total simulation time are evaluated;these results showed that the PTEM method always resulted in a quicker simulation time and matched or shortened the AUV's path length.

关键词： Autonomous Underwater Vehicle (AUV) Autonomous navigation 2D path planning obstacle detection and avoidance Environment mapping

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Corridors-based navigation for automated vehicles convoy in off-road environments 11

Corridors-based navigation for automated vehicles convoy in ...

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11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)

作者： Godoy, Jorge Artunedo, Antonio Beteta, Miguel Villagra, Jorge Ctr Automat & Robot CSIC UPM Madrid Spain

Most of the studies found in the literature for autonomous driving solutions applied to vehicles convoying are related to highway platooning applications. However, in recent years both the agriculture and military fields seem to have an increased interest in such solutions for off-road applications. This work presents a corridor-based strategy for motion planning of automated vehicles convoys in off-road environments. From the wake generated by the leading vehicle, the follower vehicle estimates the boundaries of a navigable corridor encompassing the leader's path. Using these boundaries and the outputs from the on-board navigation subsystem, the vehicle plans the most suitable trajectory to follow the leader while avoiding obstacles. In order to keep the vehicles within safety distance thresholds, an inter-distance model is applied to the speed profile generation. The proposed strategy has been implemented and validated with real vehicles, showing promising results in fully operational off-road environments. Copyright (C) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/)

关键词： Intelligent Transportation Systems Path planning Multi-Vehicle Systems Navigation Systems Trajectory Tracking obstacle detection and avoidance Platoons

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Autonomous navigation of a tracked unmanned ground vehicle 11

Autonomous navigation of a tracked unmanned ground vehicle

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11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)

作者： Seder, Marija Juric, Andela Selek, Ana Maric, Filip Lovric, Marija Petrovic, Ivan Univ Zagreb Fac Elect Engn & Comp Dept Control & Comp Engn Lab Autonomous Syst & Mobile Robot LAMOR Zagreb Croatia Univ Zagreb Croatian Mil Acad Dr Franjo Tudman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle. Copyright (C) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/)

关键词： Robot navigation path planning obstacle detection and avoidance motion control map building

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A Multi-Sensory Blind Guidance System Based on YOLO and ORB-SLAM 8

A Multi-Sensory Blind Guidance System Based on YOLO and ORB-...

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IEEE International Conference on Progress in Informatics and Computing (IEEE PIC)

作者： Rui, Chufan Liu, Yichen Shen, Junru Li, Zhaobin Xie, Zaipeng Hohai Univ Minist Water Resources Key Lab Water Big Data Technol Nanjing Peoples R China

ISBN: (纸本)9781665426558

Blind guidance system has always been a research hotspot for years. Although there are many kinds of blind guidance systems on the market, most of them prompt from the perspective of a single sense of tactile or auditory. The blind guidance method of single sense can be unstable and it does not fully mobilize other general senses of the with vision impairment. This paper designs and implements a multi-sensory blind guidance system that provides tactile and auditory sensations by using the ORB-SLAM and YOLO techniques. Based on the RGB-D camera, the local obstacle avoidance system is realized at the tactile level through the point cloud filtering that feedback the results to the user through vibrating motors. The improved ORB-SLAM can generate a dense navigation map to implement a global obstacle avoidance system through the coordinate transformation. Real-time target detection and the YOLO-based prompt voice system is implemented at the auditory level. The system can detect the specific category and give the location of obstacles as real-time voice messages. The functions mentioned above are integrated and verified as a smart cane. Experimental results show that the position and category of the obstacles in the surrounding environment can be detected accurately in real-time through our system. By combining YOLO and ORB- SLAM, we can provide a piece of useful auxiliary equipment to the community of vision impairment and enable users to move about safely.

关键词： multi-sensory guidance system ORB-SLAM YOLO obstacle detection and avoidance

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Ground Control System for UAS Safe Landing Area Determination (SLAD) in Urban Air Mobility Operations

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SENSORS 2022年第9期22卷 3226-3226页

作者： Ariante, Gennaro Ponte, Salvatore Papa, Umberto Greco, Alberto Del Core, Giuseppe Univ Naples Parthenope Dept Sci & Technol I-80133 Naples Italy Univ Campania L Vanvitelli Dept Engn I-81031 Aversa Italy

The use of the Unmanned Aerial Vehicles (UAV) and Unmanned Aircraft System (UAS) for civil, scientific, and military operations, is constantly increasing, particularly in environments very dangerous or impossible for human actions. Many tasks are currently carried out in metropolitan areas, such as urban traffic monitoring, pollution and land monitoring, security surveillance, delivery of small packages, etc. Estimation of features around the flight path and surveillance of crowded areas, where there is a high number of vehicles and/or obstacles, are of extreme importance for typical UAS missions. Ensuring safety and efficiency during air traffic operations in a metropolitan area is one of the conditions for Urban Air Mobility (UAM) operations. This paper focuses on the development of a ground control system capable of monitoring crowded areas or impervious sites, identifying the UAV position and a safety area for vertical landing or take-off maneuvers (VTOL), ensuring a high level of accuracy and robustness, even without using GNSS-derived navigation information, and with on-board terrain hazard detection and avoidance (DAA) capabilities, in particular during operations conducted in BVLOS (Beyond Visual Line Of Sight). The system is composed by a mechanically rotating real-time LiDAR (Light detection and Ranging) sensor, linked to a Raspberry Pi 3 as SBC (Session Board Controller), and interfaced to a GCS (Ground Control Station) by wireless connection for data management and 3-D information transfer.

关键词： UAV UAS LiDAR urban air mobility safe landing area determination obstacle detection and avoidance

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Fast obstacle detection System for UAS Based on Complementary Use of Radar and Stereoscopic Camera

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DRONES 2022年第11期6卷 361-361页

作者： Bigazzi, Luca Miccinesi, Lapo Boni, Enrico Basso, Michele Consumi, Tommaso Pieraccini, Massimiliano Univ Florence Dept Informat Engn Via Santa Marta 3 I-50139 Florence Italy

Autonomous unmanned aerial systems (UAS) are having an increasing impact in the scientific community. One of the most challenging problems in this research area is the design of robust real-time obstacle detection and avoidance systems. In the automotive field, applications of obstacle detection systems combining radar and vision sensors are common and widely documented. However, these technologies are not currently employed in the UAS field due to the major complexity of the flight scenario, especially in urban environments. In this paper, a real-time obstacle-detection system based on the use of a 77 GHz radar and a stereoscopic camera is proposed for use in small UASs. The resulting system is capable of detecting obstacles in a broad spectrum of environmental conditions. In particular, the vision system guarantees a high resolution for short distances, while the radar has a lower resolution but can cover greater distances, being insensitive to poor lighting conditions. The developed hardware and software architecture and the related obstacle-detection algorithm are illustrated within the European project AURORA. Experimental results carried out employing a small UAS show the effectiveness of the obstacle detection system and of a simple avoidance strategy during several autonomous missions on a test site.

关键词： UAS radar computer vision obstacle detection and avoidance autonomous navigation

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An Evolutionary Learning Approach for Robot Path Planning with Fuzzy obstacle detection and avoidance in a Multi-agent Environment

An Evolutionary Learning Approach for Robot Path Planning wi...

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3rd Brazilian Workshop on Social Simulation (BWSS)

作者： Cabreira, Tauna M. Dimuro, Gracaliz P. de Aguiar, Marilton S. Univ Fed Rio Grande FURG Programa Posgrad Modelagem Computac Rio Grande Brazil Univ Fed Pelotas UFPel Programa Posgrad Comp Pelotas Brazil

ISBN: (纸本)9780769549422

This paper describes a Fuzzy-Genetic Algorithm Approach for path planning of mobile robots with obstacle detection and avoidance in static and dynamic scenarios. Through the software Netlogo, used in simulations of multiagent applications, a seminal model was developed for the given problem. The model, which contains a robot and scenarios with or without obstacles, is responsible for determining the best path used by a robot to achieve the goal state in a shorter number of steps and avoiding collisions. Additionally, a performance evaluation of this model in comparison with A* algorithm is presented.

关键词： Path Planning Mobile Robots Fuzzy Genetic Algorithm Multiagent System obstacle detection and avoidance

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Collision avoidance for Multiple Static obstacles using Path-Velocity Decomposition 10th

Collision Avoidance for Multiple Static Obstacles using Path...

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10th IFAC Symposium on Intelligent Autonomous Vehicles IAV

作者： Jain, Vasundhara Kolbe, Uli Breuel, Gabi Stiller, Christoph Daimler AG Stuttgart Germany Karlsruhe Inst Technol Inst Measurement & Control Syst Karlsruhe Germany

This paper proposes an algorithm to plan collision-free trajectories for emergency scenarios using path-velocity decomposition (PVD). PVD decouples longitudinal and lateral planning, enabling the use of a linear model predictive control based path planner, which can operate at the bounds of admissible controls, and has low computational cost. However, infeasibility may occur in this method due to insufficient lateral acceleration capability during evasive manoeuvres. The problem is further complicated by the presence of multiple obstacles, which may require multiple evasive manoeuvres. Our approach overcomes this issue by connecting individually feasible evasive manoeuvres using heuristics in order to plan a velocity profile that guarantees collision avoidance throughout the prediction horizon. For this purpose, a simple method to approximate the acceleration profile to maximize deviation for a given obstacle distance is used, which considers actuator as well as friction constraints. These profiles are then used in motion primitives to perform collision checks in the velocity planning stage, thus ensuring feasibility in the path planning stage. Simulation results for critical last-second emergency scenarios consisting of multiple static obstacles show that a collision-free trajectory on friction limits can be planned using our approach. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： obstacle detection and avoidance Path planning Path-velocity decomposition

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