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This paper presents a constructive design of an adaptive formation controller for leader-follower quadrotors in three dimensional space. An attitude extraction algorithm which uses the conversion between quaternions and Euler angles is employed to generate the thrust and reference unit-quaternion of the translational subsystem. The attitude extraction algorithm is used as a coordinate transformation...
This paper presents a new approach to improve the remote navigation of a teleoperated demolition machine. To improve navigation usability of the teleoperated system the following topics will be covered: obstacle avoidance, wall alignment, and machine optimal positioning for demolition operations. In order to enhance the ability of the operator to navigate in a cluttered environment, a Haptic-Assisted...
In this paper a distributed, mathematical and optimization-based planning problem is introduced to control motion of multiple vehicles as a team which are connected to each other by a communication network. This framework is defined based on a Linear Time Varying Model Predictive Control (LTV-MPC). To do so, we define linear time varying constraints to cover obstacle avoidance and maintain connectivity...
Traffic accidents are the leading cause of death for people aged 15 to 29 and the eighth leading cause of death globally. Accidents at intersections are common, since vehicles approaching the intersection are not always visible to one another. Conventional methods, such as the use of traffic lights, and newer solutions that make use of GPS and VANET are not particularly effective in India for reasons...
Currently, most vehicular parameters, such as speed acceleration and heading, are obtained from GPS data. In this paper our goal is to investigate an alternate source of vehicular information for collision avoidance systems and driver assistance applications, which is more accurate, reliable and has significantly lower time lag. We have implemented an architecture, which enables us to read, analyze,...
Road intersections, without signal lights, especially those with walls or other objects that block the driver's view, are a major traffic safety hazard. A significant number of accidents happen at these intersections. The risk factor is further aggravated by the presence of animals or pedestrians which is a common occurrence in developing countries such as India. In our proposed research, we aim to...
Path planning and autonomous navigation are some of the most important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This paper presents a methodology to efficiently plan the trajectory of a robot in dynamic and complex environments, which it should traverse autonomously. A planner based in the AD* algorithm...
Efficient obstacle detection is a key requirement for safe robot navigation. We consider the operation of autonomous vehicles in structured industrial environments. In such scenarios, an usual way to perform obstacle detection is to generate an estimate of the ground and detect elements that are on the path of the vehicle, using the ground as a spatial reference. For this task, 3D occupancy grids...
In this paper we present a collision avoidance system based on visual detection. Our hardware consists of a Hummingbird quadrotor equipped with a large red marker with two built-in fish-eye cameras. Fusion of the measurements from the two cameras is done using a Gaussian-mixture probability hypothesis density filter, which allows for tracking several aircrafts at the same time. Our collision avoidance...
The use of heavy machinery is one of the main causes of accidents in sites as warehouses or construction. These vehicles have several blind spots that encumber their maneuvering and create a collision-prone environment. To ensure safety in these situations, an early warning system capable of avoiding these accidents is required. An innovative solution consists of the use of a on-board, low-cost, K-band...
We present a behavioral approach for autonomous robotic exploration of marine habitat with collision avoidance given little or no prior information. In our previous work, a vision-based reactive navigation paradigm with a predefined forward direction allowed an underwater robot to avoid unexpected obstacles. In this work, we have now incorporated visual perceptive invariants to guide the navigation...
The introduction of dedicated short-range Vehicle- to-Vehicle communication (DSRC) enables the next step in advanced driver assistance systems (ADAS) - the cooperative automated driver assistance systems (CoDAS). Combined with automated functions and even autonomous driving, a host of novel functions become feasible. Some of these - such as platooning- have been in research for decades, while others...
Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms...
Research on robot suspension system is an effective way to improve the running stability of the tracked robot. This paper introduces the mechanical structure of the tracked robot and established the simulation model of tracked robot. The tracked robot was driving on a bumpy road simulation experiment by using RecurDyn simulation software. Through the simulation experiment of tracked robot model constructing...
Potential of hazards due to collision between the automobiles are severe and often life threatening. The reason found for collision in most of the cases was inattention of the driver due to long and exhausting drive. The chances of front end collision thus become unavoidable in highways. Front end collision avoidance system (FECAS) work independently and is designed to reduce the speed of a vehicle...
In the field of robots' obstacle avoidance and navigation, indirect contact sensors such as visual, ultrasonic and infrared detection are widely used. However, the performance of these sensors is always influenced by the severe environment, especially under the dark, dense fog, underwater conditions. The obstacle avoidance robot based on tactile sensor is proposed in this paper to realize the autonomous...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it is still one of the most challenging problems in autonomous navigation. We have recently presented a rapidly exploring random tree based global planner (RTR) and a steering method (C*CS) for car-like vehicles, which uses circular and straight movements. With the aid of these two methods it is possible...
The Microsoft Kinect device is capable to perform object detection using its advanced depth sensors. In this project, the Kinect depth sensor is used for object detection for vehicle collision avoidance. Tests performed on several types of vehicles and environmental conditions indicate that the Kinect sensor is able to perform this task well under various conditions.
We propose a distributed controller to solve the Cooperative Collision Avoidance problem. We consider a network of vehicles, each with its own dynamic constraints and objective. The problem is to minimize the total network objective function subject to the vehicles' individual constraints and their shared collision avoidance constraints over a given time horizon. The proposed controller, a proximal...
In this paper, we consider the problem of keeping the state of a system outside of an undesired set of states with probability at least P. We focus on a class of order preserving systems with a constant input disturbance that is extracted from a known probability distribution. Leveraging the structure of the system, we construct an explicit supervisor that guarantees the system state to be kept outside...
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