scholarly journals Target Detection For Visual Collision Avoidance System

2021 ◽  
Vol 93 (7s) ◽  
pp. 159-166
Author(s):  
Miro Petković ◽  
◽  
Danko Kezić ◽  
Igor Vujović ◽  
Ivan Pavić ◽  
...  
Keyword(s):  
Object Detection ◽  
Target Tracking ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Automatic Identification ◽  
Surveillance Systems ◽  
International Regulations ◽  
Collision Avoidance System ◽  
Small Targets

Automatic Identification Systems (AIS) and Automatic Radar Plotting Aids (ARPA) are commonly used to detect targets for collision avoidance. However, AIS cannot detect targets without AIS transmitters and ARPA has limitations due to blind sector and small targets may not be detected. Advances in computer performance and video-based detection generated much interest in developing intelligent video surveillance systems to achieve autonomous navigation. To develop a reliable collision avoidance system, we propose the use of a visual camera for real-time object detection and target tracking. Moreover, the system should follow the International Regulations for Preventing Collisions at Sea (COLREGs) to avoid catastrophic accidents. In this paper only a part of the system is presented. For real-time object detection, the You Only Look Once (YOLO) ver. 3 convolutional neural network is used, and the target tracking filter based on a Kalman filter with built-in estimated relative position and velocity.

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

scholarly journals Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance

Agriculture ◽  
2021 ◽  
Vol 11 (10) ◽  
pp. 954
Author(s):  
Abhijeet Ravankar ◽  
Ankit A. Ravankar ◽  
Arpit Rawankar ◽  
Yohei Hoshino
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Robot Navigation ◽  
Indoor Environments ◽  
Safe Distance ◽  
Field Robots ◽  
Safe Navigation

In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.

A Collision Avoidance System for Dam Concrete Construction Based on GPS and GIS

2011 ◽  
Vol 291-294 ◽  
pp. 2805-2808 ◽  
Author(s):  
Hao Wu ◽  
Jing Tao ◽  
Xin Ping Li ◽  
Xiu Wen Chi ◽  
Nan Chen ◽  
...  
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Concrete Construction ◽  
Function Design ◽  
Dam Concrete ◽  
Collision Avoidance System

It is necessary for dam concrete construction to take some measures to avoid large haulage equipment collision accident. A collision avoidance system based on GPS and GIS is established in order to reduce this accident with providing accurately monitoring and controlling in real time. In this paper, the function design of collision avoidance is detailed discussed, and the integrity of the system is verified through application used in Dagan Mountain dam concreting construction.

Autonomous Collision Imminent Steering Maneuver in Presence of Surrounding Obstacles

2016 ◽  
Author(s):  
Rouhollah Jafari ◽  
Shuqing Zeng ◽  
Nikolai Moshchuk
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Geometric Method ◽  
Target Vehicle ◽  
Virtual Target ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Collision Avoidance System ◽  
Path Planning Algorithm

In this paper, a collision avoidance system is proposed to steer away from a leading target vehicle and other surrounding obstacles. A virtual target lane is generated based on an object map resulted from perception module. The virtual target lane is used by a path planning algorithm for an evasive steering maneuver. A geometric method which is computationally fast for real-time implementations is employed. The algorithm is tested in real-time and the simulation results suggest the effectiveness of the system in avoiding collision with not only the leading target vehicle but also other surrounding obstacles.

scholarly journals A Real-time Implementation of an Intersection Collision Avoidance System

2011 ◽  
Vol 44 (1) ◽  
pp. 9794-9798 ◽  
Author(s):  
Mattias Brännström ◽  
Jonas Sjöberg ◽  
Linus Helgesson ◽  
Mikael Christiansson
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Collision Avoidance System

Requirements for Coordination and the Application of an Automatic Collision Avoidance System

1996 ◽  
Vol 49 (2) ◽  
pp. 129-135 ◽  
Author(s):  
Chris Perkins ◽  
Tony Redfern
Keyword(s):  
Collision Avoidance ◽  
Processing Element ◽  
Rule Base ◽  
Successful Implementation ◽  
Legislative Change ◽  
Judicial Practice ◽  
Complementary Action ◽  
International Regulations ◽  
Collision Avoidance System

This paper is concerned with the legislative change which would have to take place if an automatic collision avoidance system were to be implemented.The principle of complementary action, and the role of coordination in achieving that action is considered. Current collision avoidance practice is discussed, noting the coordination attributes of the International Regulations for the Prevention of Collision at Sea, and the responsibility placed on the mariner by the regulations. The processing element of an automatic collision avoidance system is considered in the light of current judicial practice.The paper concludes that the implementation of an automatic collision avoidance system is incompatible with the current collision regulations and the supporting judiciary. It is suggested that successful implementation will require the recognition of a discrete rule base.

scholarly journals AIS Politics: The Contested Use of Vessel Tracking at the EU’s Maritime Frontier

2019 ◽  
Vol 44 (5) ◽  
pp. 881-899 ◽  
Author(s):  
Lorenzo Pezzani ◽  
Charles Heller
Keyword(s):  
Mediterranean Sea ◽  
Collision Avoidance ◽  
Tracking System ◽  
Automatic Identification ◽  
Identification System ◽  
Automatic Identification System ◽  
Vessel Tracking ◽  
Collision Avoidance System ◽  
The Mediterranean ◽  
Do So

Automatic identification system (AIS) is a vessel tracking system, which since 2004 has become a global tool for the detection and analysis of seagoing traffic. In this article, we look at how this technology, initially designed as a collision avoidance system, has recently become involved in debates concerning migration across the Mediterranean Sea. In particular, after having briefly discussed its emergence and characteristics, we examine how through different practices of (re)appropriation AIS, and the data it generate, have been seized upon, both to contest and to sustain the exclusionary nature of borders, and the mass dying of migrants at sea to which it leads. We do so by referring to forms of data activism we have contributed to in the frame of our Forensic Oceanography project as well as to situations in which AIS has been mobilized by xenophobic groups to demand even stronger exclusionary measures. At the same time, we point to the multiplicity of actors who participate in the politics of migration through AIS in unexpected ways. We conclude by highlighting the irreducible ambivalence of practices of appropriation and call for persistent attention to one’s own positioning within the global datascape constituted by AIS and other data.

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