Velocity obstacle based local collision avoidance for a holonomic elliptic robot

Lee, Beom H.; Jeon, Jae D.; Oh, Jung Hyun

doi:10.1007/s10514-016-9580-2

Cited by 32 publications

(10 citation statements)

References 30 publications

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“…The velocity obstacle (VO) algorithm has been applied in many fields, such as vehicles, robots, and unmanned aerial vehicles, to avoid collisions (Mercado et al, 2015; Wang, 2015; Lee et al, 2017). Because the VO algorithm itself provides not only conflict detection results but also an optional speed set, this method has gradually been applied in the ship field in recent years (Huang et al, 2018; Song et al, 2018).…”

Section: Description Of the Collision Avoidance Methodsmentioning

confidence: 99%

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Wang

Guan

et al. 2020

J. Navigation

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Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identify the avoidance ship in each cycle. Considering the nonlinear collision avoidance trajectory of ships, a new method for calculating the degree of danger using a velocity obstacle algorithm is proposed. Therefore, in each communication, each ship considers the avoidance behaviours of other ships in planning its avoidance trajectory. Additionally, we combine bi-criterion evolution (BCE) and the ant lion optimiser to plan the entire collision avoidance path. Three scenarios are designed to demonstrate the performance of this method. The results show that the proposed method can find a suitable collision-free solution for all ships.

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Section: Description Of the Collision Avoidance Methodsmentioning

confidence: 99%

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Wang

Guan

et al. 2020

J. Navigation

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“…Ellipsoids have widely been used as bounding volumes in various applications, such as computer vision [Liang et al 2016], robotics [Lee et al 2017], mechanism and machine theory [Goncalves et al 2017], molecular dynamics [Ghossein and Lévesque 2013], computational particle mechanics [Rubio-Largo et al 2015] as well as in material science [Xu and Chen 2016]. In particular, ellipsoids have been a popular candidate for bounding volumes in collision detection; see for examples [Choi et al 2009[Choi et al , 2006Jia et al 2011;Ju et al 2001;Liu et al 2007;Lu et al 2007;Rimon and Boyd 1977;Shiang et al 2000;Wang et al 2004].…”

Section: Ellipsoidsmentioning

confidence: 99%

“…Ellipsoids have superior capability of shape approximation and relatively low algebraic degree, hence have widely been used as bounding volumes in various applications, such as computer vision [Liang et al 2016], robotics [Lee et al 2017], mechanism and machine theory [Goncalves et al 2017], molecular dynamics [Ghossein and Lévesque 2013], computational particle mechanics [Rubio-Largo et al 2015] as well as in material science [Xu and Chen 2016]. See Fig.…”

Section: Introductionmentioning

confidence: 99%

Complete Classification and Efficient Determination of Arrangements Formed by Two Ellipsoids

Jia

Mourrain

et al. 2020

ACM Trans. Graph.

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Arrangements of geometric objects refer to the spatial partitions formed by the objects and they serve as an underlining structure of motion design, analysis and planning in CAD/CAM, robotics, molecular modeling, manufacturing and computer-assisted radiosurgery. Arrangements are especially useful to collision detection, which is a key task in various applications such as computer animation, virtual reality, computer games, robotics, CAD/CAM and computational physics. Ellipsoids are commonly used as bounding volumes in approximating complex geometric objects in collision detection. In this paper we present an in-depth study on the arrangements formed by two ellipsoids. Specifically, we present a classification of these arrangements and propose an efficient algorithm for determining the arrangement formed by any particular pair of ellipsoids. A stratification diagram is also established to show the connections among all the arrangements formed by two ellipsoids. Our results for the first time elucidate all possible relative positions between two arbitrary ellipsoids and provides an efficient and robust algorithm for determining the relative position of any two given ellipsoids, therefore providing the necessary foundation for developing practical and trustworthy methods for processing ellipsoids for collision analysis or simulation in various applications.

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“…However, sometimes only local knowledge about the environment can be obtained in practice while the replanning process could not be implemented in advance [36][37][38][39]. Moreover, if the area for docking is crowded with obstacles, the efficiency of the path replanning process is critical.…”

Section: Path Replanning Strategymentioning

confidence: 99%

Reactive Path Planning Approach for Docking Robots in Unknown Environment

Cui

Yan

Wang

2017

Journal of Advanced Transportation

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Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

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Velocity obstacle based local collision avoidance for a holonomic elliptic robot

Cited by 32 publications

References 30 publications

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Complete Classification and Efficient Determination of Arrangements Formed by Two Ellipsoids

Reactive Path Planning Approach for Docking Robots in Unknown Environment

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