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The capability of avoiding static obstacles independently is the premise for air cushion vehicle (ACV) operating safely. In this article, an ACV collision avoidance control based on improved artificial potential field method is designed as auxiliary operating system to ensure safe navigation of ACV. It builds mathematical model of the ACV and searches the data of static obstacles. Besides, the collision...
The use of Multi-Robot Systems presents several advantages like increased robustness and, in most cases, time reduction to accomplish a task. In this context, Robotic Swarms is generally related to very large groups of robots. The congestion problem within the mobile robotics field is a well-known field of research. The problem occurs when a large number of autonomous robots tries to reach a common...
This paper considers the application of finite-time control to a Cucker-Smale flocking model of autonomous agents with collision avoidance. A mathematical expression for the upper bound on the flocking time is derived. Previous results without considering collision avoidance showed that the flocking time decreases as the number of robots in the flock increases, which is counter-intuitive. We showed...
Unmanned aerial vehicle that is moving from one place to another needs to have a real-time obstacle avoidance controller to prevent collisions in the obstacles around it. In this paper, the concept of artificial potential field is proposed to implement obstacle avoidance in swarm of quadrotors. This is based on the assumptions that the target and obstacle will introduce a certain force that will direct...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In this paper we presented the functional analysis of intelligent wheelchair, and proposed system configuration program. The working principle of the ultrasonic sensor system is expounded. We researched the method of path planning and random avoidance, and achieve environment modeling and path planning. Link Graph method is used for modeling whole environment and Dijkstra arithmetic is used to established...
The collision avoidance problem of autonomous ships is analyzed in this paper. Firstly, the background and the difficulties are reviewed. Then an improved artificial potential field method is designed to solve the collision avoidance problem of unmanned ships, and the system characteristics are investigated. Finally, simulation results demonstrate the ship's control effectiveness in the obstacle environment.
Collision avoidance subject to operator's intention is needed for power-assisted omni-directional mobile robots. In order to realize collision avoidance on operator's initiative, the system which makes the operator notice the existence of an obstacle is necessary. In this paper, existence of the obstacle is notified through a change in operation feeling by adjusting viscosity coefficients of the power-assist...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
This work presents a potential field-based control approach for multi-agent dynamical systems in a multi-obstacle environment. A strong focus is put on solving the collision avoidance (either with obstacles or other agents) problem, which is essential for any multi-agent control strategy. In here we discuss potential field constructions which are used for penalizing in the cost the collision avoidance...
In this paper, we formulate the unmanned aerial vehicle path planning problem as a multi-objective mixed integer programming problem. We minimize the fuel and time consumption at the same time. The elastic constraint method for multi-objective optimization is used to solve the problem. Experiment results show the trade off information between the two objectives, and the effectiveness of our proposed...
Intelligent Wheelchair Bed (IWB) is an important direction. And it is also one of the most active research direction in the robot field. In this work, the obstacle avoidance algorithm based on the Artificial Potential Field (APF) using ultrasonic sensors is proposed and realized in order to achieve the real-time and continuing obstacle avoidance for the IWB. The IWB can keep on detecting the environment...
This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily...
For human-centered automation, it is a given fact that human safety is completely ensured. In addition, both of the humans and robots must perform given tasks as efficiently as possible in terms of productivity. For this issue, human-robot interaction in multi-robot systems is a challenge. Therefore, this paper presents an interactive formation by multiple mobile robots for guiding humans. In the...
This research investigates the feasibility for the development of a novel 3D collision avoidance system for smart powered wheelchairs operating in a cluttered setting by using a scenario generated in a simulated environment using the Robot Operating System development framework. We constructed an innovative interface with a commercially available powered wheelchair system in order to extract joystick...
A driver assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize the turning performance and realize the collision avoidance simultaneously under the constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for...
Some popular potential field methods to manifest circular formation and collision avoidance are investigated in this paper. By balancing potential force of overall agents in the environment, parameters for attractive repulsive potential field can be determined, especially in free obstacle environment. Furthermore, in the presence of static obstacle in the setting, the other parameters for attractive...
Although unmanned aerial vehicle (UAV) shows great advantages and some new potential applications in recent years as an effective tool for investigation, fighting and defense, yet, how to give full play to its role still remains the focus of attention. To improve the fighting efficiency of UAV and expand the range of its applications, the obstacle avoidance problem of UAV during autonomous cruise...
This paper focuses on requirements for effective human robot collaboration in interactive navigation scenarios. We designed several use-cases where humans and robot had to move in the same environment that resemble canonical path-crossing situations. These use-cases include open as well as constrained spaces. Three different state-of-the-art humanaware navigation planners were used for planning the...
High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder...
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