scholarly journals Deadlock-free Path Following Control with Collision Avoidance for Multiple Robots

2009 ◽  
Vol 45 (8) ◽  
pp. 422-429 ◽  
Author(s):  
Kazunori SAKURAMA ◽  
Kazushi NAKANO
Keyword(s):  
Collision Avoidance ◽  
Free Path ◽  
Path Following ◽  
Multiple Robots ◽  
Path Following Control

Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments

2018 ◽  
Vol 15 (02) ◽  
pp. 1850010 ◽  
Author(s):  
Daniel Herrera ◽  
Flavio Roberti ◽  
Ricardo Carelli ◽  
Victor Andaluz ◽  
José Varela ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Collision Avoidance ◽  
Dynamic Modeling ◽  
Controller Design ◽  
Center Of Mass ◽  
Path Following ◽  
Motion Controller ◽  
Social Rules ◽  
Path Following Control ◽  
Shared Environments

This work presents the kinematic and dynamic modeling of a human–wheelchair system which considers that its center of mass is not located in the middle of the wheel’s axle. Furthermore, a novel motion controller is presented for a human–wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human–wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified.

MPC Based Automated Steering of a Low Speed Shuttle for Socially Acceptable Accident Avoidance

2016 ◽  
Author(s):  
Haoan Wang ◽  
Yue Cao ◽  
Bilin Aksun Güvenç ◽  
Levent Güvenç
Keyword(s):  
Collision Avoidance ◽  
Free Path ◽  
Path Following ◽  
Front Wheel ◽  
State University ◽  
Steering Control ◽  
Elastic Band ◽  
Road Users ◽  
Band Method ◽  
The Ohio State University

This paper presents a socially acceptable collision avoidance system for an automated vehicle based on the elastic band method. Both stationary and moving Vulnerable Road Users (VRUs: pedestrians or bicyclists) are considered in the proposed system. A collision free path is first determined and then Model Predictive Control (MPC) based vehicle front wheel steering is applied to track this collision free path. For the purposes of benchmarking and comparison, the results of a conventional PID steering controller are also presented. The designed system is tested with simulations on a path chosen from the west campus of the Ohio State University, whose waypoints are extracted automatically from OpenStreetMap (OSM). Simulation results show that the MPC based steering control system successfully achieves the required collision avoidance and path following and has comparable or better performance when compared with the conventional PID solution.

Collision Avoidance and Path Following Control of Unmanned Aerial Vehicle in Hazardous Environment

2018 ◽  
Vol 95 (1) ◽  
pp. 193-210 ◽  
Author(s):  
Zhixiang Liu ◽  
Youmin Zhang ◽  
Chi Yuan ◽  
Laurent Ciarletta ◽  
Didier Theilliol
Keyword(s):  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Path Following ◽  
Path Following Control ◽  
Aerial Vehicle
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