Voter Based Control System for Collision Avoidance and Sailboat Navigation

2018 ◽  
pp. 57-68 ◽  
Author(s):  
Jordan Less’ard-Springett ◽  
Anna Friebe ◽  
Maël Le Gallic
Keyword(s):  
Control System ◽  
Collision Avoidance

Collision Avoidance System Synthesis for a Group of Robots in Unsupervised Learning Paradigm

2020 ◽  
Vol 21 (7) ◽  
pp. 420-427
Author(s):  
A. V. Dotsenko
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Nearest Neighbor ◽  
Control Function ◽  
Quality Criterion ◽  
Test Sample ◽  
Evolutionary Strategies ◽  
Joint Control ◽  
Current State ◽  
And Control

Collision avoidance is very important problem in the domain of multi-robot interaction. In this paper we propose a new approach of collision avoidance in the context of the optimal control system synthesis problem definition with minimal information available. It is assumed that robots have a certain scope within which they can interact with static and dynamic phase constraints. A group of robots is considered to be homogeneous, and control system unit for reaching terminal states already available to robots. The control system which is responsible for collision avoidance is only activated when the nearest neighbor is located in the scope of the considered robot. The first important feature of this work is the fact that the collision avoidance between two robots is reciprocal with joint control system, without assigning priorities. Another key feature of this work is the complete absence of information about the environment and the current state of other robots at given time. Robots only share information with nearest neighbors if they locate in the scope of each other. We also present a computational experiment with mobile robots as control objects. A multilayer perceptron was used to approximate the control function. Weights of the perceptron were optimized in unsupervised paradigm by an algorithm belonging to the evolutionary strategies class. At the beginning of each epoch we generate a sample of collision scenarios for optimization, while the quality criterion of the achieved weights at the end of epoch is evaluated on a fixed test sample. Experimental results demonstrate strong ability of the optimized multilayer perceptron to map the relative state of two mobile robots to controls in order to avoid collisions.

scholarly journals Fuzzy-Based Adaptive Cruise Controller with Collision Avoidance and Warning System

2013 ◽  
Vol 3 (1) ◽  
pp. 143 ◽  
Author(s):  
Wafa Batayneh ◽  
Omar Al-Araidah ◽  
Khaled Bataineh ◽  
Adnan Al-Ghasem
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Adaptive Cruise Control ◽  
Warning System ◽  
Cruise Control ◽  
Collision Warning ◽  
Adaptive Cruise Control System ◽  
Cruise Control System ◽  
Control Scheme ◽  
Simulation Results

The paper presents a Fuzzy-based adaptive cruise control system with collision avoidance and collision warning (ACC/CA/CW). The proposed control scheme aims to improve driver's comfort while keeping him/her safe by avoiding possible collisions. Depending on inputs from both the driver and the installed sensors, the controller accelerates/decelerates the vehicle to keep its speed at the desired limit. In case of a possible collision, the controller decelerates (accelerates) the vehicle to prevent possible crash with the vehicle ahead (behind). Moreover, the controller issues visual and/or audio alerts for the driver in order to warn him/her in case of the need for applying an uncomfortable deceleration level and/or to warn the driver for risky situations where he/she might need to change the lane. Simulation results illustrate the robustness of the proposed system over various ranges of inputs.

On-Line Path Planning With Collision Avoidance for Coordinate-Controlled Robotic Manipulators

2017 ◽  
Author(s):  
Tuomo Kivelä ◽  
Jouni Mattila ◽  
Jussi Puura ◽  
Sirpa Launis
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Point Clouds ◽  
Robotic Manipulators ◽  
Cloud Data ◽  
Shortest Distance ◽  
Hydraulic Manipulator ◽  
Line Path

This paper presents a generic method for generating joint trajectories for robotic manipulators with collision avoidance capability. The coordinate motion control system of the heavy-duty hydraulic manipulator resolves joint references so that a goal pose can be reached in real-time without any collisions. The control system checks whether any part of the manipulator is at risk of colliding with itself, with other manipulators, or with environmental obstacles. If there is a risk of collision, then the collision server searches the points where the collision is about to occur and calculates the shortest distance between the colliding objects. The collision server retains static and dynamic point clouds, and it uses point cloud data to calculate the shortest distance between the colliding objects. The point clouds on the server are kept up to date with the manipulators’ joint sensors and an external surveillance system. During coordinated motion control, the joint trajectories of the hydraulic manipulator are modified so that collisions can be avoided, while at the same time, the trajectory of the end-effector maintains its initial trajectory if possible. Results are given for a seven degrees of freedom redundant hydraulic manipulator to demonstrate the capability of this collision avoidance control system.

Adaptive coordinated collision avoidance control of autonomous ground vehicles

2018 ◽  
Vol 232 (9) ◽  
pp. 1120-1133 ◽  
Author(s):  
Jinghua Guo ◽  
Yugong Luo ◽  
Keqiang Li
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Control Strategy ◽  
Potential Field ◽  
Lyapunov Theory ◽  
Ground Vehicles ◽  
Parameter Uncertainties ◽  
Autonomous Ground Vehicles ◽  
Collision Avoidance Control ◽  
Avoidance Control

This article presents a novel coordinated nonlinear adaptive backstepping collision avoidance control strategy for autonomous ground vehicles with uncertain and unmodeled terms. A nonlinear vehicle collision avoidance vehicle model which describes the coupled lateral and longitudinal dynamic features of autonomous ground vehicles is constructed. Then, a modified artificial potential field approach which can ensure that the total potential field of the target is goal minimum, is proposed to produce a collision-free trajectory for autonomous ground vehicles in real-time. Furthermore, in order to handle with the features of coupled and parameter uncertainties of autonomous ground vehicles, an adaptive neural network–based backstepping trajectory tracking control approach is proposed for collision avoidance control system of autonomous ground vehicles, and the stability of this proposed control system is proven by the Lyapunov theory. Finally, the co-simulation and experimental tests are implemented and the results show that the proposed collision avoidance control strategy has excellent tracking performance.

Autonomous Braking Control System for Pedestrian Collision Avoidance by Using Potential Field

2013 ◽  
Vol 46 (21) ◽  
pp. 328-334 ◽  
Author(s):  
Ryosuke Matsumi ◽  
Pongsathorn Raksincharoensak ◽  
Masao Nagai
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Potential Field ◽  
Braking Control
Sign in / Sign up

Export Citation Format

Share Document