A Collision Avoidance Control of Multiple Mobile Agents Based on Active Sensing

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P3-F09
Author(s):  
Takeru KANNO ◽  
Taishi MIKAMI ◽  
Yasufumi YAMADA ◽  
Mayuko IWAMOTO ◽  
Daishin UEYAMA ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Mobile Agents ◽  
Active Sensing ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Multiple Mobile Agents

Longitudinal and lateral collision avoidance control strategy for intelligent vehicles

2021 ◽  
pp. 095440702110240
Author(s):  
Ziyu Zhang ◽  
Chunyan Wang ◽  
Wanzhong Zhao ◽  
Jian Feng
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Decentralized Control ◽  
Control Strategy ◽  
Centralized Control ◽  
Lateral Control ◽  
Time Performance ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Control Accuracy

In order to solve the problems of longitudinal and lateral control coupling, low accuracy and poor real-time of existing control strategy in the process of active collision avoidance, a longitudinal and lateral collision avoidance control strategy of intelligent vehicle based on model predictive control is proposed in this paper. Firstly, the vehicle nonlinear coupling dynamics model is established. Secondly, considering the accuracy and real-time requirements of intelligent vehicle motion control in pedestrian crossing scene, and combining the advantages of centralized control and decentralized control, an integrated unidirectional decoupling compensation motion control strategy is proposed. The proposed strategy uses two pairs of unidirectional decoupling compensation controllers to realize the mutual integration and decoupling in both longitudinal and lateral directions. Compared with centralized control, it simplifies the design of controller, retains the advantages of centralized control, and improves the real-time performance of control. Compared with the decentralized control, it considers the influence of longitudinal and lateral control, retains the advantages of decentralized control, and improves the control accuracy. Finally, the proposed control strategy is simulated and analyzed in six working conditions, and compared with the existing control strategy. The results show that the proposed control strategy is obviously better than the existing control strategy in terms of control accuracy and real-time performance, and can effectively improve vehicle safety and stability.

A Visual Surveillance System for Traffic Collision Avoidance Control

1987 ◽  
Vol 20 (3) ◽  
pp. 303-308 ◽  
Author(s):  
J.G. Postaire ◽  
P. Stelmaszyk ◽  
P. Bonnet ◽  
J.P. Deparis
Keyword(s):  
Collision Avoidance ◽  
Surveillance System ◽  
Visual Surveillance ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Traffic Collision

Proposal of collision avoidance control for multiple logistics robots

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P2-F02
Author(s):  
Nobuhiko MIYAMOTO ◽  
Noriaki ANDO ◽  
Hironobu OKAMOTO ◽  
Kazuya OKAMOTO ◽  
Yukikazu KOIDE ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Collision Avoidance Control ◽  
Avoidance Control
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