• The Journal of Korea Robotics Society
• /
• v.2 no.3
• /
• pp.234-241
• /
• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• Journal of IKEEE
• /
• v.7 no.2 s.13
• /
• pp.253-259
• /
• 2003

In a good 3D engine, objects interactions are similar to those of real-world. Collision is one of the interactions. It includes whether collision took place or not, where collision took placed, and reaction after collision took place. More precise collision detection needs more time. If there exist required precision, detection time can be controlled by choosing appropriate detection model. Therefore, we need a selection mechanism for the collision detection with respect to required precision and detection time. In this paper, a collision detection model with seven different precision levels is examined. And relationship between detection time and precision is analyzed. Consequently, we propose a selection mechanism for collision detection model.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.12 no.1
• /
• pp.541-551
• /
• 2020

Based on the trend, there have been numerous researches analysing the ship collision risk. However, in this scope, the navigational conditions and external environment are ignored or incompletely considered in training or/and real situation. It has been identified as a significant limitation in the navigational collision risk assessment. Therefore, a novel algorithm of the ship navigational collision risk solving system has been proposed based on basic collision risk and vulnerabilities of marine accidents. The vulnerability can increase the possibility of marine collision accidents. The factors of vulnerabilities including bad weather, tidal currents, accidents prone area, traffic congestion, operator fatigue and fishing boat operating area are involved in the fuzzy reasoning engines to evaluate the navigational conditions and environment. Fuzzy logic is employed to reason basic collision risk using Distance to Closest Point of Approach (DCPA) and Time of Closest Point of Approach (TCPA) and the degree of vulnerability in the specific coastal waterways. Analytical Hierarchy Process (AHP) method is used to obtain the integration of vulnerabilities. In this paper, vulnerability factors have been proposed to improve the collision risk assessment especially for non-SOLAS ships such as coastal operating ships and fishing vessels in practice. Simulation is implemented to validate the practicability of the designed navigational collision risk solving system.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.13 no.1
• /
• pp.340-350
• /
• 2021

This paper proposes a decision support model for USVs to improve the accuracy of collision avoidance decision-making. It is formed by Navigation Safety Domain (NSD) and domain-based Collision Risk Index (CRI), capable of determining the collision stage and risk between multiple ships. The NSD is composed of a warning domain and a forbidden domain, which is constructed under the constraints of COLREGs (International Regulations for Preventing Collisions at Sea). The proposed domain based CRI takes the radius of NSD in various encounter situations as threshold parameters. It is found that the value of collision risk in any directions can be calculated, including actual value and risk threshold. A catamaran USV and 6 given vessels are taken as study objects to validate the proposed model. It is found that the judgment of collision stage is accurate and the azimuth range of risk exists can be detected, hence the ships can take direct and effective collision avoidance measures. According to the relation between the actual value of CRI and risk threshold, the decision support rules are summarized, and the specific terms of COLREGs to be followed in each encounter situation are given.

• Proceedings of the KIEE Conference
• /
• 2008.04a
• /
• pp.240-241
• /
• 2008

We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.

• Journal of Navigation and Port Research
• /
• v.28 no.9
• /
• pp.799-802
• /
• 2004

Evaluation of the quantitative risk of collision plays a key role in developing the expert system of navigation and collision avoidance. This study analysed thoroughly how to determine the threshold of avoidance sector as described in the new evaluation of collision risk, and suggested the collision risk obtained by the alteration of course and/or speed in order to pass clear qf each danger zone as the threshold of avoidance sector.

• Journal of Navigation and Port Research
• /
• v.27 no.6
• /
• pp.619-624
• /
• 2003

Evaluating the risk of collision quantitatively plays a key role in developing the expert system of navigation and collision avoidance. This study analysed thoroughly how to determine the threshold function related to the avoidance time as described in the new evaluation of collision risk using sech function, and developed the appropriate equation as applicable.

• Journal of information and communication convergence engineering
• /
• v.6 no.1
• /
• pp.24-28
• /
• 2008

In RFID System, when multiple tags respond simultaneously, a collision can occur. A method that solves this collision is referred to anti-collision algorithm. Among the existing anti-collision algorithms, static framed slot allocation algorithm is very simple. But when the number of tags is variable, its performance degrades because of the fixed frame size. This paper proposes an optimal frame size allocation scheme that determines the frame size. The proposed scheme is based on the number of collision slots at every frame. According to the simulation results, the tag identification time is faster that of SFSA.

• Coupled systems mechanics
• /
• v.3 no.3
• /
• pp.319-327
• /
• 2014

This study investigated the collision of ships withfloating pier structures. The nature of the collision phenomenon is complex, and the understanding of it has developed through the modelling of offshore structures. ABAQUS software was used to investigate the collision phenomenon. The interaction between the ship and structural system was modelled, and the stress distribution both at thetime of collision and afterwardswasobserved and modelled. The strain energy absorption by different structural partswas calculated and comparisonswere made.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.647-652
• /
• 2000

This paper proposes a collision warning/avoidance algorithm using a trajectory prediction method. This algorithm is based on 2-dimensional kinematics and the Kalman filter has been used to obtain the information of the object vehicle. This algorithm has been investigated via computer simulation and showed a good trajectory prediction performance. The proposed collision warning/avoidance algorithm would enhanced driver acceptance for a collision warning/avoidance system.