Research on Dynamic Planning Method of Collision Avoidance Route Based on Ship Kinematics

2021 ◽  
Author(s):  
Lipeng Wang ◽  
Chenkun Zhou ◽  
Zhi Zhang ◽  
Shan Ma ◽  
Wenlong Ma
Keyword(s):  
Collision Avoidance ◽  
Planning Method ◽  
Dynamic Planning

scholarly journals Collision Avoidance Planning Method of USV Based on Improved Ant Colony Optimization Algorithm

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 52964-52975 ◽  
Author(s):  
Hongjian Wang ◽  
Feng Guo ◽  
Hongfei Yao ◽  
Shanshan He ◽  
Xin Xu
Keyword(s):  
Ant Colony Optimization ◽  
Collision Avoidance ◽  
Optimization Algorithm ◽  
Planning Method ◽  
Ant Colony ◽  
Ant Colony Optimization Algorithm

Development of Tool Collision Avoidance Method Adapted to Uncut Workpiece Shape

2017 ◽  
Vol 11 (2) ◽  
pp. 235-241 ◽  
Author(s):  
Kento Watanabe ◽  
◽  
Jun’ichi Kaneko ◽  
Kenichiro Horio ◽  
Keyword(s):  
Collision Avoidance ◽  
Planning Method ◽  
Search Range ◽  
Rapid Changes ◽  
Tool Posture ◽  
Automatic Planning ◽  
Tool Motion ◽  
Five Axis

This study developed an automatic planning method for tool collision avoidance, with posture adapted to the uncut shape of a workpiece to avoid collisions between the tool and workpiece in five-axis machining. This method sequentially judges the likelihood of collision between the holder and shank parts of the tool and the workpiece while machining, which is updated with tool motion. Then it automatically determines tool postures in which no collisions occur. The process of setting the search range for collision avoidance postures of the tool when collisions occur is made more efficient; it is possible to prevent rapid changes in tool posture at the time of avoidance, while reducing the time for geometric operations necessary when searching for compatible orientations.

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