• Title, Summary, Keyword: collision avoidance

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The division of action situation of collision avoidance in intelligent collision avoidance system

  • Zheng, Zhongyi;Wu, Zhaolin
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • pp.114-119
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    • 2001
  • Based on tole investigation on mariner’s behaviors in collision avoidance, actuality of collision avoidance at sea and the research on the uncertainty of collision avoidance behaviors adopted by two encounter vessels, and for the purpose to reduce the no-coordination action of collision avoidance between two encounter vessels, and on the base of different encounter situation in international convention for preventing collisions at sea, the concept of action situation between tee encounter vessels is proposed, and the directions for every encounter vessel to adopt course alteration to avoid collision are explained in different action situation. The mechanism of avoidance and reduction of no-coordination is established in intelligent collision avoidance system, and it is important id research on intelligent collision avoidance system.

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A New Analytical Representation to Robot Path Generation with Collision Avoidance through the Use of the Collision Map

  • Park Seung-Hwan;Lee Beom-Hee
    • International Journal of Control, Automation, and Systems
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    • v.4 no.1
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    • pp.77-86
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    • 2006
  • A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

Enabling Vessel Collision-Avoidance Expert Systems to Negotiate

  • Hu, Qinyou;Shi, Chaojian;Chen, Haishan;Hu, Qiaoer
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.77-82
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    • 2006
  • Automatic vessel collision-avoidance systems have been studied in the fields of artificial intelligence and navigation for decades. And to facilitate automatic collision-avoidance decision-making in two-vessel-encounter situation, several expert and fuzzy expert systems have been developed. However, none of them can negotiate with each other as seafarers usually do when they intend to make a more economic overall plan of collision avoidance in the COLREGS-COST-HIGH situations where collision avoidance following the International Regulations for Preventing Collisions at Sea(COLREGS) costs too much. Automatic Identification System(AIS) makes data communication between two vessels possible, and negotiation methods can be used to optimize vessel collision avoidance. In this paper, a negotiation framework is put forward to enable vessels to negotiate to optimize collision avoidance in the COLREGS-COST-HIGH situations at open sea. A vessel vector space is defined and therewith a cost model is put forward to evaluate the cost of collision-avoidance actions. Negotiations between a give-way vessel and a stand-on vessel and between two give-way vessels are considered respectively to reach overall low cost agreements. With the framework proposed in this paper, two vessels involved in a COLREGS-COST-HIGH situation can negotiate with each other to get a more economic overall plan of collision avoidance than that suggested by the traditional collision-avoidance expert systems.

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Collision Avoidance Maneuver Simulation of Tilt Rotor Unmanned Aerial Vehicle (틸트로터 무인기의 충돌회피기동 모사)

  • Hwang, Soo-Jung;Lee, Myeong-Kyu;Oh, Soo-Hun
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.15 no.3
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    • pp.33-45
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    • 2007
  • The collision avoidance maneuver flight simulation for tilt rotor unmanned aerial vehicle was performed by time-accurate numerical integration method based on wind tunnel test data. Five representative collision avoidance maneuvers were simulated under constraints of aerodynamic stall, propulsion power, structural load, and control actuator capability. The collision avoidance performances of the maneuvers were compared by the computed collision avoidance times. The sensitivities of initial flight speed and collision zone shape on the collision avoidance time were investigated. From these results, it was found that the moderate pull-up turn maneuver defined using moderate pitch and maximum roll controls within simulation constraints is the most robust and efficient collision avoidance maneuver under the various flight speeds and collision object shapes in the tilt rotor UAV applications.

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A Study on the Threshold of Avoidance Sector in the New Evaluation of Collision Risk

  • Jeong Tae-Gweon
    • Journal of Navigation and Port Research
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    • v.28 no.9
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    • pp.799-802
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    • 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.

Development of Collision Warning/Avoidance Algorithms using Vehicle Trajectory Prediction Method (차량 궤적 예측기법을 이용한 충돌 경보/회피 알고리듬 개발)

  • Kim, Jae-Ho;Yi, Kyong-Su
    • Proceedings of the KSME Conference
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    • pp.647-652
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    • 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.

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Control System for Ship Collision Avoidance considering the Effect of Wind and Ship's Manoeuvrability

  • Im, Nam-Kyun;Lee, Seung-Keon;Hwang, Seong-Joon
    • Journal of Navigation and Port Research
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    • v.34 no.2
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    • pp.105-110
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    • 2010
  • The studies on automatic ship collision avoidance system, which have been carried out in the last 10 years, are facing on new situation due to newly developed high technology such as computer and other information system. It was almost impossible to make it used in real navigation field 3-4 years ago because of the absence of any tool to give other ship's information, however recently developed technology suggests new possibility. This study is carried out to develop the automatic ship collision avoidance support system which considers ship's manoeuvrability into it's collision avoidance algorithm. One of the important part in ship collision avoidance system is collision decision module which can calculate collision risk with other ships and act properly to avoid the situation. Many of previous researches are using present ship's dynamic data such as present speed, position and course to calculate collision risk. However when a ship commences avoidance action, the real situation is quite different with one that has been estimated by the ship's initial data due to the ship's manoeuvring characteristic. Therefore it is better to take into account ship's manoeuvring characteristic from the stage of collision decision in ship collision avoidance system. In this study, these effects are included in the developed system. The proposed system are verified its usefulness in numerical simulation environments.

A Study on the Collision Avoidance Maneuver Optimization with Multiple Space Debris

  • Kim, Eun-Hyouek;Kim, Hae-Dong;Kim, Hak-Jung
    • Journal of Astronomy and Space Sciences
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    • v.29 no.1
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    • pp.11-21
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    • 2012
  • In this paper, the authors introduced a new approach to find the optimal collision avoidance maneuver considering multi threatening objects within short period, while satisfying constraints on the fuel limit and the acceptable collision probability. A preliminary effort in applying a genetic algorithm (GA) to those kinds of problems has also been demonstrated through a simulation study with a simple case problem and various fitness functions. And then, GA is applied to the complex case problem including multi-threatening objects. Two distinct collision avoidance maneuvers are dealt with: the first is in-track direction of collision avoidance maneuver. The second considers radial, in-track, cross-track direction maneuver. The results show that the first case violates the collision probability threshold, while the second case does not violate the threshold with satisfaction of all conditions. Various factors for analyzing and planning the optimal collision avoidance maneuver are also presented.

A Study on the Threshold of Avoidance Time in the New Evaluation of Collision Risk

  • Jeong, Tae-Gweon
    • Journal of Navigation and Port Research
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    • v.27 no.6
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    • pp.619-624
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    • 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.

Review of Collision Avoidance Systems for Mine Safety Management: Development Status and Applications (광산안전관리를 위한 충돌방지시스템의 개발현황과 적용사례)

  • Lee, Chaeyoung;Suh, Jangwon;Baek, Jieun;Choi, Yosoon
    • Tunnel and Underground Space
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    • v.27 no.5
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    • pp.282-294
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    • 2017
  • This study analyzed the development status and applications of collision avoidance systems for mine safety management. The definitions of collision avoidance system used in Australia and USA were compared. Sensing technologies utilized in the collision avoidance systems were reviewed. In addition, several collision avoidance systems developed in oversea mining company, such as $MineAlert^{TM}$ Collision Awareness System, Cat $MineStar^{TM}$, and Intelligent Proximity Detection, were reviewed. In the domestic mining industry, no collision avoidance system was used. However, similar systems were utilized in the construction and railroad industry. Collision avoidance system can prevent unexpected collision accident and thus improve worker's safety in mine. Therefore, it is necessary to analyze and apply sensors and system appropriate for the domestic mining environment via review of overseas collision avoidance system.