Probabilistic Inverse Velocity Obstacle for Free Flying Quadrotors

2021 ◽  
Author(s):  
Ishaan Khare ◽  
Jyotish Poonganam ◽  
Bharath Gopalakrishnan ◽  
K. Madhava Krishna
Keyword(s):  
Velocity Obstacle ◽  
Inverse Velocity

scholarly journals Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

2021 ◽  
Vol 9 (7) ◽  
pp. 761
Author(s):  
Liang Zhang ◽  
Junmin Mou ◽  
Pengfei Chen ◽  
Mengxia Li
Keyword(s):  
Path Planning ◽  
Local Minimum ◽  
Hybrid Approach ◽  
Artificial Potential Field ◽  
Whole Process ◽  
International Regulations ◽  
Local Path ◽  
Velocity Obstacle ◽  
Global And Local

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorporates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

Velocity obstacle based local collision avoidance for a holonomic elliptic robot

2016 ◽  
Vol 41 (6) ◽  
pp. 1347-1363 ◽  
Author(s):  
Beom H. Lee ◽  
Jae D. Jeon ◽  
Jung H. Oh
Keyword(s):  
Collision Avoidance ◽  
Velocity Obstacle

Velocity obstacle–based conflict resolution and recovery method

2021 ◽  
pp. 1-23
Author(s):  
F. Sun ◽  
Y. Chen ◽  
X. Xu ◽  
Y. Mu ◽  
Z. Wang
Keyword(s):  
Conflict Resolution ◽  
Optimal Solution ◽  
Mitigation Strategy ◽  
Resolution Method ◽  
Recovery Method ◽  
Aircraft Flight ◽  
Resolution Model ◽  
Group Welfare ◽  
Velocity Obstacle ◽  
Conflict Mitigation

ABSTRACT Considering the shortcomings of current methods for real-time resolution of two-aircraft flight conflicts, a geometric optimal conflict resolution and recovery method based on the velocity obstacle method for two aircraft and a cooperative conflict resolution method for multiple aircraft are proposed. The conflict type was determined according to the relative position and velocity of the aircraft, and a corresponding conflict mitigation strategy was selected. A resolution manoeuvre and a recovery manoeuvre were performed. On the basis of a two-aircraft conflict resolution model, a multi-aircraft cooperative conflict resolution game was constructed to identify an optimal solution for maximising group welfare. The solution and recovery method is simple and effective, and no new flight conflicts are introduced during track recovery. For multi-aircraft conflict resolution, an equilibrium point that maximises the welfare function of the group was identified, and thus, an optimal strategy for multi-aircraft conflict resolution was obtained.

scholarly journals Velocity Obstacle Approaches for Multi-Agent Collision Avoidance

2019 ◽  
Vol 07 (01) ◽  
pp. 55-64 ◽  
Author(s):  
James A. Douthwaite ◽  
Shiyu Zhao ◽  
Lyudmila S. Mihaylova
Keyword(s):  
Collision Avoidance ◽  
Critical Analysis ◽  
Monte Carlo Analysis ◽  
The Other ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Obstacle ◽  
Scalable Computation ◽  
Avoidance Problem

This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches. Each approach is evaluated with respect to increasing agent populations and variable sensing assumptions. In implementing the localized avoidance problem, the author notes a problem of symmetry not considered in the literature. An intensive 1000-cycle Monte Carlo analysis is used to assess the performance of the selected algorithms in the presented conditions. The ORCA method is shown to yield the most scalable computation times and collision likelihood in the presented cases. The HRVO method is shown to be superior than the other methods in dealing with obstacle trajectory uncertainty for the purposes of collision avoidance. The respective features and limitations of each algorithm are discussed and presented through examples.

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