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Journal articles on the topic 'Collision avoidance systems'

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Author: Grafiati

Published: 4 June 2021

Last updated: 3 March 2023

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1

Sabattini, Lorenzo, Cristian Secchi, and Cesare Fantuzzi. "Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141668710. http://dx.doi.org/10.1177/1729881416687109.

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This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system’s desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.

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2

BĂLOS, Dănuț, Ionică CÎRCIU, Oliver CIUICĂ, and Eduard MIHAI. "THEORETICAL CONSIDERATIONS REGARDING THE ACAS (AIRBORNE COLLISION AVOIDANCE SYSTEMS)." Review of the Air Force Academy 16, no. 3 (December 19, 2018): 21–28. http://dx.doi.org/10.19062/1842-9238.2018.16.3.3.

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3

Lin, Jun Ting, Xiao Ming Wang, and Jian Wu Dang. "A New Collision Avoidance Strategy for Chinese Train Control System." Applied Mechanics and Materials 614 (September 2014): 179–83. http://dx.doi.org/10.4028/www.scientific.net/amm.614.179.

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There are still enormous amount of collision between trains even if comprehensive and complex technology, such as train control system, is extensively deployed in the infrastructure which should help to avoid such collisions. Experiences from aviation, maritime, and road transport systems have shown that the probability of collisions can be significantly reduced with collision avoidance systems basing on direct vehicle-to-vehicle communication on-board, which do hardly require infrastructure components. Additional Collision Avoidance System overlay Train Control System (CASOTCS) for Chinese railway, which is independent of the regular control mechanism, is provided in this paper. CASOTCS unit architecture and its key issues: position detection, direct train-to-train communication and collision surveillance resolution are also discussed. CASOTCS receives and evaluates the information broadcasted by other infinity trains, if a potential collision is detected, lead to collision alerts and avoidance resolution advisories. CASOTCS has the potential to increase safety and efficiency in the future, such as shorten the distance between trains.

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4

Sabic, Edin, and Jing Chen. "Left or Right: Auditory Collision Warnings for Driving Assistance Systems." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 61, no. 1 (September 2017): 1551. http://dx.doi.org/10.1177/1541931213601751.

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Assistance driving systems aim to facilitate human behavior and increase safety on the road. These systems comprise common systems such as forward collision warning systems, lane deviation warning systems, and even park assistance systems. Warning systems can communicate with the driver through various modalities, but auditory warnings have the advantage of not further tasking visual resources that are primarily used for driving. Auditory warnings can also be presented from a certain location within the cab environment to be used by the driver as a cue. Beattie, Baillie, Halvey, and McCall (2014) assessed presenting warnings in stereo configuration, coming from one source, and bilateral configuration, panned fully from left or right, and found that drivers felt more in control with lateral warnings than stereo warnings when the car was in self-driving mode. Straughn, Gray, and Tan (2009) examined laterally presented auditory warnings to signal potential collisions. They found that the ideal presentation of warnings in either the avoidance direction, in which the driver should direct the car to avoid a collision, or the collision direction, in which the potential collision is located, was dependent on time to collision. Wang, Proctor, and Pick (2003) applied the stimulus-response compatibility principle to auditory warning design by using a steering wheel in a non-driving scenario and found that a tone presented monaurally in the avoidance-direction led to the fastest steering response. However, the reverse finding occurred when similar experiments utilized a driving simulator in a driving scenario (Straughn et al., 2009; Wang, Pick, Proctor, & Ye, 2007). The present study further investigated how to design spatially presented auditory collision warnings to facilitate drivers’ response to potential collisions. Specifically, tones indicating a pedestrian walking across the road were presented either in the avoidance direction or in the collision direction. The experimental task consisted of monitoring the road for potential collisions and turning the wheel in the appropriate direction to respond. Additionally, time to collision was manipulated to investigate the impact of the timing of the warning and increasing time pressure on the steering response. Time to collision was manipulated by half second intervals from two to four seconds resulting in five different time-to-collision scenarios. Lastly, the effect of individual differences in decision-making styles were also considered by using two decision-making style questionnaires. Results from the experiment showed that the presentation of a collision warning in the collision direction led to faster responses when compared to the warning in the avoidance direction. This result may be due to the collision warning directing the attention of the participant to the location of the threat so that they can more quickly make a response decision. Further, the advantage of avoidance-direction warnings over collision-direction warnings was greater with greater time to collision. Results showed that participant responses to varying time to collision influenced their reaction time. The participants appeared to have not relied solely on the auditory tones, but rather they utilized the warning tones in conjunction with visual information in the environment. These results from this study have implications for improving collision avoidance systems: Presentation of a collision warning in the direction of the collision may be more intuitive to drivers, regardless of time to collision.

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Gnanasekera, Manaram, and Jay Katupitiya. "A Time-Efficient Method to Avoid Collisions for Collision Cones: An Implementation for UAVs Navigating in Dynamic Environments." Drones 6, no. 5 (April 25, 2022): 106. http://dx.doi.org/10.3390/drones6050106.

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This paper presents a methodology that can be used to avoid collisions of aerial drones. Even though there are many collision avoidance methods available in literature, collision cone is a proven method that can be used to predict a collision beforehand. In this research, we propose an algorithm to avoid a collision in a time-efficient manner for collision cone based aerial collision avoidance approaches. Furthermore, the paper has considered all possible scenarios including heading change, speed change and combined heading and speed change, to avoid a collision. The heading-based method was mathematically proven to be the most time-efficient method out of the three. The proposed heading-based method was compared with other work presented in the literature and validated with both simulations and experiments. A Matrice 600 Pro hexacopter is used for the collision avoidance experiments.

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6

Gnanasekera, Manaram, and Jay Katupitiya. "A Time-Efficient Method to Avoid Collisions for Collision Cones: An Implementation for UAVs Navigating in Dynamic Environments." Drones 6, no. 5 (April 25, 2022): 106. http://dx.doi.org/10.3390/drones6050106.

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This paper presents a methodology that can be used to avoid collisions of aerial drones. Even though there are many collision avoidance methods available in literature, collision cone is a proven method that can be used to predict a collision beforehand. In this research, we propose an algorithm to avoid a collision in a time-efficient manner for collision cone based aerial collision avoidance approaches. Furthermore, the paper has considered all possible scenarios including heading change, speed change and combined heading and speed change, to avoid a collision. The heading-based method was mathematically proven to be the most time-efficient method out of the three. The proposed heading-based method was compared with other work presented in the literature and validated with both simulations and experiments. A Matrice 600 Pro hexacopter is used for the collision avoidance experiments.

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7

Gnanasekera, Manaram, and Jay Katupitiya. "A Time-Efficient Method to Avoid Collisions for Collision Cones: An Implementation for UAVs Navigating in Dynamic Environments." Drones 6, no. 5 (April 25, 2022): 106. http://dx.doi.org/10.3390/drones6050106.

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This paper presents a methodology that can be used to avoid collisions of aerial drones. Even though there are many collision avoidance methods available in literature, collision cone is a proven method that can be used to predict a collision beforehand. In this research, we propose an algorithm to avoid a collision in a time-efficient manner for collision cone based aerial collision avoidance approaches. Furthermore, the paper has considered all possible scenarios including heading change, speed change and combined heading and speed change, to avoid a collision. The heading-based method was mathematically proven to be the most time-efficient method out of the three. The proposed heading-based method was compared with other work presented in the literature and validated with both simulations and experiments. A Matrice 600 Pro hexacopter is used for the collision avoidance experiments.

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8

Chang, Yeong-Hwa, Chun-Lin Chen, Wei-Shou Chan, Hung-Wei Lin, and Chia-Wen Chang. "Fuzzy Formation Control and Collision Avoidance for Multiagent Systems." Mathematical Problems in Engineering 2013 (2013): 1–18. http://dx.doi.org/10.1155/2013/908180.

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This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered. Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning. The learning rules of controller parameters can be derived from the gradient descent method. To avoid collisions between neighboring agents, a fuzzy separation controller is proposed such that the local minimum problem can be solved. In order to highlight the advantages of this fuzzy logic based collision-free formation control, both of the static and dynamic leaders are discussed for performance comparisons. Simulation results indicate that the proposed fuzzy formation and separation control can provide better formation responses compared to conventional consensus formation and potential-based collision-avoidance algorithms.

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9

Hwang, Taewoong, and Ik-Hyun Youn. "Collision Risk Situation Clustering to Design Collision Avoidance Algorithms for Maritime Autonomous Surface Ships." Journal of Marine Science and Engineering 10, no. 10 (September 27, 2022): 1381. http://dx.doi.org/10.3390/jmse10101381.

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The reliability of collision avoidance systems for Maritime Autonomous Surface Ships is one of the most critical factors for their safety. In particular, since many ship collisions occur in coastal areas, it is crucial to ensure the reliability of collision avoidance algorithms in geographically limited coastal waters. However, studies on maritime autonomous surface ships collision avoidance algorithms mainly focus on the traffic factor despite the importance of the geographic factor. Therefore, this study presents a methodology for establishing a practical collision avoidance system test bed, considering the geographic environment. The proposed methodology is a data-driven approach that objectively categorizes collision risk situations by extracting these risks using Automatic Identification System (AIS) and Electronic Navigational Chart (ENC) data, followed by clustering algorithms. Consequently, the research results present a direction for establishing test beds from the perspective of geographic and traffic factors.

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10

Tang, Jun, Miquel Angel Piera, Yunxiang Ling, and Linjun Fan. "Extended Traffic Alert Information to Improve TCAS Performance by means of Causal Models." Mathematical Problems in Engineering 2015 (2015): 1–11. http://dx.doi.org/10.1155/2015/303768.

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Near-midair collisions (NMACs) between aircraft have long been a primary safety concern and have incessantly motivated the development of ingenious onboard collision avoidance (CA) systems to reduce collision risk. The Traffic Alert and Collision Avoidance System (TCAS) acts as a proverbially accepted last-resort means to resolve encounters, while it also has been proved to potentially induce a collision in the hectic and congested traffic. This paper aims to improve the TCAS collision avoidance performance by enriching traffic alert information, which strictly fits with present TCAS technological requirements and extends the threat detection considering induced collisions and probabilistic pilot response. The proposed model is specified in coloured Petri net (CPN) formalism, to generate by simulation all the future possible downstream reachable states to enhance the follow-up decision making of pilots via synthesising relevant information related to collision states. With the complete state space, the potential collision scenarios can be identified together with those manoeuvres that may transform a conflict into a collision. The causal TCAS model is demonstrated to work effectively for complex multiaircraft scenarios and to identify the feasible manoeuvres that contribute to reduce the nonzero TCAS-induced collision risk.

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11

Gehrig, Stefan K., and Fridtjof J. Stein. "Collision Avoidance for Vehicle-Following Systems." IEEE Transactions on Intelligent Transportation Systems 8, no. 2 (June 2007): 233–44. http://dx.doi.org/10.1109/tits.2006.888594.

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12

van de Merwe, G. K., S. C. Mallam, Ø. Engelhardtsen, and S. Nazir. "Exploring navigator roles and tasks in transitioning towards supervisory control of autonomous collision avoidance systems." Journal of Physics: Conference Series 2311, no. 1 (July 1, 2022): 012017. http://dx.doi.org/10.1088/1742-6596/2311/1/012017.

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Abstract This study aims to systematically map and assess performance requirements for collision avoidance manoeuvring for two cases. A case where the navigator performs collision avoidance, and a case where collision avoidance is performed by collision avoidance system where the navigator acts as its supervisor. An appraisal of collision avoidance manoeuvring was performed based on three data sources: the collision avoidance regulations, a ferry operator’s procedures, and interviews with navigators including in situ observations. A framework was established in which the gathered data was structured and analysed using a cognitive task analysis approach. Based on the results, performance requirements and information needs were established. Further work will focus on detailing the navigator’s information needs and the corresponding system’s transparency requirements to support effective human performance.

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13

Hwang, Taewoong, and Ik-Hyun Youn. "Navigation Situation Clustering Model of Human-Operated Ships for Maritime Autonomous Surface Ship Collision Avoidance Tests." Journal of Marine Science and Engineering 9, no. 12 (December 20, 2021): 1458. http://dx.doi.org/10.3390/jmse9121458.

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The collision avoidance system is one of the core systems of MASS (Maritime Autonomous Surface Ships). The collision avoidance system was validated using scenario-based experiments. However, the scenarios for the validation were designed based on COLREG (International Regulations for Preventing Collisions at Sea) or are arbitrary. Therefore, the purpose of this study is to identify and systematize objective navigation situation scenarios for the validation of autonomous ship collision avoidance algorithms. A data-driven approach was applied to collect 12-month Automatic Identification System data in the west sea of Korea, to extract the ship’s trajectory, and to hierarchically cluster the data according to navigation situations. Consequently, we obtained the hierarchy of navigation situations and the frequency of each navigation situation for ships that sailed the west coast of Korea during one year. The results are expected to be applied to develop a collision avoidance test environment for MASS.

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14

Petković, Miro, Danko Kezić, Igor Vujović, and Ivan Pavić. "Target Detection For Visual Collision Avoidance System." Pedagogika-Pedagogy 93, no. 7s (August 31, 2021): 159–66. http://dx.doi.org/10.53656/ped21-7s.14targ.

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Automatic Identification Systems (AIS) and Automatic Radar Plotting Aids (ARPA) are commonly used to detect targets for collision avoidance. However, AIS cannot detect targets without AIS transmitters and ARPA has limitations due to blind sector and small targets may not be detected. Advances in computer performance and video-based detection generated much interest in developing intelligent video surveillance systems to achieve autonomous navigation. To develop a reliable collision avoidance system, we propose the use of a visual camera for real-time object detection and target tracking. Moreover, the system should follow the International Regulations for Preventing Collisions at Sea (COLREGs) to avoid catastrophic accidents. In this paper only a part of the system is presented. For real-time object detection, the You Only Look Once (YOLO) ver. 3 convolutional neural network is used, and the target tracking filter based on a Kalman filter with built-in estimated relative position and velocity.

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15

Chen, Shuo, Ji Ming Yu, and Yan Liu. "The Design and Simulation of Collision Avoidance System Based on Dual-Mode Collaborative." Advanced Materials Research 936 (June 2014): 2352–57. http://dx.doi.org/10.4028/www.scientific.net/amr.936.2352.

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This article establish a model to give a detailed analysis of road vehicle collision avoidance systems according to the angle between vehicle and obstacle, and raise a vehicle collision avoidance detecting mechanism based on location mapping and distance detecting; furthermore, The authors combined this mechanism and BP artificial neural network to establish a new vehicle collision avoidance systems which is based on the collaboration between precise distance angle model and BP artificial neural network. We called this mechanism as BP artificial neural network vehicle collision avoidance model, the abbreviation is BP collision model. The convergence simulation of such model present that this model can resolve problem of collision avoidance and plan driving Path very well.

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Lee, Hae-In, Hyo-Sang Shin, and Antonios Tsourdos. "A Probabilistic–Geometric Approach for UAV Detection and Avoidance Systems." Sensors 22, no. 23 (November 27, 2022): 9230. http://dx.doi.org/10.3390/s22239230.

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This paper proposes a collision avoidance algorithm for the detection and avoidance capabilities of Unmanned Aerial Vehicles (UAVs). The proposed algorithm aims to ensure minimum separation between UAVs and geofencing with multiple no-fly zones, considering the sensor uncertainties. The main idea is to compute the collision probability and to initiate collision avoidance manoeuvres determined by the differential geometry concept. The proposed algorithm is validated by both theoretical and numerical analysis. The results indicate that the proposed algorithm ensures minimum separation, efficiency, and scalability compared with other benchmark algorithms.

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17

Godbole, Datta N., Raja Sengupta, James Misener, Natasha Kourjanskaia, and James B. Michael. "Benefit Evaluation of Crash Avoidance Systems." Transportation Research Record: Journal of the Transportation Research Board 1621, no. 1 (January 1998): 1–9. http://dx.doi.org/10.3141/1621-01.

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A five-layer hierarchy to integrate models, data, and tools is proposed for benefits assessment and requirements development for crash avoidance systems. The framework is known as HARTCAS: Hierarchical Assessment and Requirements Tools for Crash Avoidance Systems. The analysis problem is multifaceted and large-scale. The driving environment is diverse and uncertain, driver behavior and performance are not uniform, and the range of applicable collision avoidance technologies is wide. Considerable real-world data are becoming available on certain aspects of this environment, although the collection of experimental data on other aspects is constrained by technological and institutional issues. Therefore, analyses of collision avoidance systems are to be conducted by collecting data on nominal operating conditions to the greatest extent possible and by using such data to build models for analysis of the rare, abnormal conditions. HARTCAS provides a framework within which to structure the collection and use of such knowledge. It is described in general terms, and its use is illustrated by analysis of a forward collision warning system. How to quantify the relationships between the effectiveness of a warning and the probability that the warning is a nuisance is shown. System benefits are also quantified.

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Han, Inhwan. "Car-mounted (black box) camera–based prediction and avoidance of intersection collisions for advanced driver assistance systems." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 1 (July 24, 2020): 231–44. http://dx.doi.org/10.1177/0954407020941370.

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This study analyzed video and quantitative data of 471 four-way intersection vehicle collisions obtained from Virginia Tech Transportation Institute near-accidents data and used the analysis results to determine the threshold value for each of the nine types of intersection collisions. The collision cases obtained for this study were categorized into nine groups based on the direction of the car that recorded the video and location of the other car estimated through video analysis. In obscure cases, the aspect rate was additionally used to assign a group. After the group it belongs to is identified, the change rate of aspect ratio and area change rate were used to determine the possibility and specific type of intersection collision. When a collision was imminent, avoidance possibility was calculated to avoid the collision completely, and if the collision was inevitable, partial collision maneuver method that causes the least damage was deduced. The suggested algorithms were verified using the black box video from 16 actual accident cases. With the exception of special cases such as when most of the vehicle was out of view, most of them showed high correspondence.

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19

NAKAMURA, Shinya, and Naoki OKADA. "Safety Evaluation of Automatic Collision Avoidance Systems." Journal of Japan Institute of Navigation 142 (2020): 18–28. http://dx.doi.org/10.9749/jin.142.18.

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20

Dowsland, Kathryn A., and Anna M. Greaves. "Collision Avoidance in Bi-Directional AGV Systems." Journal of the Operational Research Society 45, no. 7 (July 1994): 817. http://dx.doi.org/10.2307/2584290.

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Dowsland, Kathryn A., and Anna M. Greaves. "Collision Avoidance in Bi-directional AGV Systems." Journal of the Operational Research Society 45, no. 7 (July 1, 1994): 817–26. http://dx.doi.org/10.1038/sj/jors/0450708.

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Downsland, Kathryn A., and Anna M. Greaves. "Collision Avoidance in Bi-Directional AGV Systems." Journal of the Operational Research Society 45, no. 7 (July 1994): 817–26. http://dx.doi.org/10.1057/jors.1994.125.

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23

Patrick, Steven D., and Efstathios Bakolas. "Collision Avoidance Using Spherical Harmonics." IFAC-PapersOnLine 54, no. 20 (2021): 777–82. http://dx.doi.org/10.1016/j.ifacol.2021.11.266.

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24

Merz, A. W. "Maximum-miss aircraft collision avoidance." Dynamics and Control 1, no. 1 (March 1991): 25–34. http://dx.doi.org/10.1007/bf02169422.

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Wu, Xingwei, Linda Ng Boyle, and Dawn Marshall. "Drivers’ Avoidance Strategies When Using a Forward Collision Warning (FCW) System." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 61, no. 1 (September 2017): 1939–43. http://dx.doi.org/10.1177/1541931213601964.

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Forward collision warning (FCW) systems help prevent rear-end collisions by identifying and alerting drivers of threats ahead. Understanding drivers’ avoidance strategies i.e. the tendency to brake or steer is important for the design and effectiveness of these systems. A driving simulator study was performed across five US locations to examine three driver avoidance maneuvers: braking only, steering only and combined braking and steering. A log-linear analysis was used to investigate the likelihood of an avoidance maneuver given the driver characteristics (age, gender) and study location. Findings showed that drivers aged 40 years and older were more likely to use a combined braking and steering maneuver to avoid a rearend collision. Drivers from two coastal urban areas (Washington, D.C. and Seattle, WA) were less likely to choose braking only in response to FCW alerts. Younger drivers and drivers that live in more rural areas (Clemson, SC and Iowa City, IA) were more likely to select braking only to avoid a crash, which could be due to their experience in less congested traffic environment. The findings of this study provide some insights on the factors associated with various avoidance strategies among drivers. This understanding can help guide the design of future in-vehicle collision warning systems.

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Tomori, M. O., and O. F. Mustapha. "Implementation of Hybrid Controlled Vehicle Braking Method for the Design of Collision Avoidance Systems In Vehicles." Advances in Multidisciplinary and scientific Research Journal Publication 10, no. 2 (June 30, 2022): 101–8. http://dx.doi.org/10.22624/aims/digital/v10n2p7.

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According to data from the National Highway Transportation Safety Administration, human error is to blame for at least 90% of all car collisions. This information has intensified the focus on the design and development of collision avoidance systems in automobiles. This paper presents a semi-automated braking system to increase the accuracy of collision avoidance systems by reducing errors on the vehicle’s driver part. The methodology used combines the use of a microprocessor for analyzing data from sensors aided by servo motors, sending information to output devices for the alarm system and electric motors, and integrated circuits to implement hybridized engagement of vehicle brake. The braking system can be manually applied but can interfere and bring the vehicle to a halt once it has been determined that the driver has lost control of maneuvering the vehicle. The implemented system was able to determine the separation distances between automobiles and obstacles, give warning employing alarm set-up and engage braking at a minimum separation distance that is provided with an average response time of 0.86 s and a percentage error of 12.8% during operation. Keywords: Hybrid Controlled Vehicle Braking Method, Collision Avoidance Systems In Vehicles

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Brooker, Peter. "Airborne Collision Avoidance Systems and Air Traffic Management Safety." Journal of Navigation 58, no. 1 (January 2005): 1–16. http://dx.doi.org/10.1017/s037346330400308x.

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A new ICAO Policy on Airborne Collision Avoidance Systems is needed, which recognizes it to be an integrated part of the air traffic management system's safety defences; and that should be fully included in hazard analyses for the total system's design safety targets.

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Tan, Chee Yong, Sunan Huang, Kok Kiong Tan, Rodney Swee Huat Teo, Wen Qi Liu, and Feng Lin. "Collision Avoidance Design on Unmanned Aerial Vehicle in 3D Space." Unmanned Systems 06, no. 04 (October 2018): 277–95. http://dx.doi.org/10.1142/s2301385018500115.

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Collision avoidance is one of the core problems in designing a multi-unmanned aerial vehicle (UAV) system. It is to ensure each UAV can reach its target without colliding with any moving or static obstacles. With increasing usage of UAVs in many application areas, research on collision avoidance algorithm has become a hot topic. Several approaches on collision avoidance have been reported. In this paper, we design a three-dimensional collision avoidance on multi-UAV systems based on the original three-dimensional velocity obstacle method.

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Alturbeh, Hamid, and James F. Whidborne. "Visual Flight Rules-Based Collision Avoidance Systems for UAV Flying in Civil Aerospace." Robotics 9, no. 1 (February 25, 2020): 9. http://dx.doi.org/10.3390/robotics9010009.

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The operation of Unmanned Aerial Vehicles (UAVs) in civil airspace is restricted by the aviation authorities, which require full compliance with regulations that apply for manned aircraft. This paper proposes control algorithms for a collision avoidance system that can be used as an advisory system or a guidance system for UAVs that are flying in civil airspace under visual flight rules. A decision-making system for collision avoidance is developed based on the rules of the air. The proposed architecture of the decision-making system is engineered to be implementable in both manned aircraft and UAVs to perform different tasks ranging from collision detection to a safe avoidance manoeuvre initiation. Avoidance manoeuvres that are compliant with the rules of the air are proposed based on pilot suggestions for a subset of possible collision scenarios. The proposed avoidance manoeuvres are parameterized using a geometric approach. An optimal collision avoidance algorithm is developed for real-time local trajectory planning. Essentially, a finite-horizon optimal control problem is periodically solved in real-time hence updating the aircraft trajectory to avoid obstacles and track a predefined trajectory. The optimal control problem is formulated in output space, and parameterized by using B-splines. Then the optimal designed outputs are mapped into control inputs of the system by using the inverse dynamics of a fixed wing aircraft.

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DeLucia, Patricia R., and Anand Tharanathan. "Effects of Optical Flow and Discrete Warnings on Deceleration Detection during Car Following." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 49, no. 17 (September 2005): 1673–76. http://dx.doi.org/10.1177/154193120504901737.

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Tau specifies time-to-contact between a driver and a lead car, and is potentially useful to prevent rear-end collisions. However, studies suggest that time-to-contact judgments are based on multiple information sources and that effective information varies with distance. We focused on three questions: Does a driver's response to a lead car's deceleration occur when the car's optical size, expansion rate, or tau reaches a “critical” value? Does effective information differ for near and far lead cars? Is a driver's response affected by discrete warnings (brake lights and auditory warnings) that occur independently of optical flow information? Results suggested that responses were not based on a critical value of the optical parameters considered here, and were affected by discrete warnings. Further, effective information varied with the distance and deceleration rate of the lead car. Results were consistent with prior proposals that advanced brake warning systems and collision-avoidance warning systems can reduce the incidence of rear-end collisions. Future studies of this kind will help to improve the design of collision-avoidance systems and to reduce rear-end collisions.

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Hinsch, Werner. "Risk of Collision at Sea." Journal of Navigation 48, no. 3 (September 1995): 389–95. http://dx.doi.org/10.1017/s0373463300015277.

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Vessel traffic service systems (VTS systems) have been established, throughout the world, in areas of high traffic density. These systems, operating with such tools as VHF radiotelephony, land-based radar installations and ship's data processing, gather information to respond to collision and grounding danger, to organize traffic flow and assist allied activities. It is expected that VTS systems should effectively reduce the number of collisions in the VTS area. But efforts for collision avoidance can only be successful if the VTS operator in front of the shoreside radar screen is precisely instructed as to which measurements he has to make to identify a risk-of-collision situation. Uncertainties about the direction in which ships must take evasive action arise in VTS areas, where ships are free to engage in encounters.

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Yu, Hongjun, Ying Wang, Lihua Liang, and Peng Shi. "Coordinated collision avoidance for multi‐vehicle systems based on collision time." IET Control Theory & Applications 15, no. 11 (March 28, 2021): 1439–50. http://dx.doi.org/10.1049/cth2.12133.

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Zheng, Pengjun, Mike McDonald, and Jianping Wu. "Evaluation of Collision Warning–Collision Avoidance Systems Using Empirical Driving Data." Transportation Research Record: Journal of the Transportation Research Board 1944, no. 1 (January 2006): 1–7. http://dx.doi.org/10.1177/0361198106194400101.

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Flores-Resendiz, Juan Francisco, David Avilés, and Eduardo Aranda-Bricaire. "Formation Control for Second-Order Multi-Agent Systems with Collision Avoidance." Machines 11, no. 2 (February 1, 2023): 208. http://dx.doi.org/10.3390/machines11020208.

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This paper deals with the formation control problem without collisions for second-order multi-agent systems. We propose a control strategy which consists of a bounded attractive component to ensure convergence to a specific geometrical pattern and a complementary repulsive component to guarantee collision-free rearrangement. For convergence purposes, it is assumed that the communication graph contains at least a directed spanning tree. The avoidance complementary component is formed by applying repulsive vector fields with unstable focus structure. Using the well-known input-to-state stability property a control law for second-order agents is derived in a constructive manner starting from the first-order case. We consider that every agent is able to detect the presence of any other agent in the surrounding area and also can measure and share both position and velocity with his predefined set of neighbours. The resulting control law ensures the convergence to the desired geometrical pattern without collisions during the transient behaviour, as well as bounded velocities and accelerations. Numerical simulations are provided to show the performance and effectiveness of the proposed strategy.

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He, Renke, Ruixuan Wei, and Qirui Zhang. "UAV autonomous collision avoidance approach." Automatika 58, no. 2 (April 3, 2017): 195–204. http://dx.doi.org/10.1080/00051144.2017.1388646.

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Lei, Maolin, Ting Wang, Chen Yao, Huan Liu, Zhi Wang, and Yongsheng Deng. "Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots." Applied Sciences 10, no. 17 (August 26, 2020): 5893. http://dx.doi.org/10.3390/app10175893.

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Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.

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Chai, Yi, and Vahid Hassani. "Hybrid Collision Avoidance with Moving Obstacles." IFAC-PapersOnLine 52, no. 21 (2019): 302–7. http://dx.doi.org/10.1016/j.ifacol.2019.12.324.

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Goodman, Jacob R., and Leonardo J. Colombo. "Collision Avoidance of Multiagent Systems on Riemannian Manifolds." SIAM Journal on Control and Optimization 60, no. 1 (January 13, 2022): 168–88. http://dx.doi.org/10.1137/21m1411056.

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Volovoi, Vitali, Alexandra Balueva, and Rene Valenzuela Vega. "Analytical Risk Model for Automated Collision Avoidance Systems." Journal of Guidance, Control, and Dynamics 37, no. 1 (January 2014): 359–63. http://dx.doi.org/10.2514/1.54448.

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Tompa, Rachael E., Blake Wulfe, Mykel J. Kochenderfer, and Michael P. Owen. "Horizontal Maneuver Coordination for Aircraft Collision-Avoidance Systems." Journal of Aerospace Information Systems 15, no. 2 (February 2018): 92–106. http://dx.doi.org/10.2514/1.i010576.

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Baldauf, M., K. Benedict, S. Fischer, F. Motz, and J.-U. Schröder-Hinrichs. "Collision avoidance systems in air and maritime traffic." Proceedings of the Institution of Mechanical Engineers, Part O: Journal of Risk and Reliability 225, no. 3 (August 16, 2011): 333–43. http://dx.doi.org/10.1177/1748006x11408973.

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Borgolte, U. "Flexible, Online Collision Avoidance in Multi-Robot Systems." IFAC Proceedings Volumes 24, no. 9 (September 1991): 297–302. http://dx.doi.org/10.1016/s1474-6670(17)51072-1.

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Moe, Signe, Kristin Y. Pettersen, and Jan Tommy Gravdahl. "Set-based collision avoidance applications to robotic systems." Mechatronics 69 (August 2020): 102399. http://dx.doi.org/10.1016/j.mechatronics.2020.102399.

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Gilling, Simon P. "Collision Avoidance, Driver Support and Safety Intervention Systems." Journal of Navigation 50, no. 1 (January 1997): 27–32. http://dx.doi.org/10.1017/s0373463300023559.

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Autonomous Intelligent Cruise Control (AICC) will be marketed by a number of vehicle manufacturers before the end of the decade. This paper will describe AICC and the next generation systems currently being developed and validated within the EC Fourth Framework project, Anti-Collision Autonomous Support and Safety Intervention SysTem (AC ASSIST).The currently available cruise control systems which maintain a fixed speed are a well-known form of longitudinal driver support. The fixed speed cruise control becomes less useful with increased traffic volumes, as the driver must disable the system when a slower preceding vehicle is encountered.

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Nilsson, Jonas, Jonas Fredriksson, and Anders C. E. Ödblom. "Verification of Collision Avoidance Systems using Reachability Analysis." IFAC Proceedings Volumes 47, no. 3 (2014): 10676–81. http://dx.doi.org/10.3182/20140824-6-za-1003.01567.

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Nilsson, Jonas, Anders C. E. Odblom, and Jonas Fredriksson. "Worst-Case Analysis of Automotive Collision Avoidance Systems." IEEE Transactions on Vehicular Technology 65, no. 4 (April 2016): 1899–911. http://dx.doi.org/10.1109/tvt.2015.2419196.

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García, Fernando, Felipe Jiménez, Enrique Puertas, José E. Naranjo, José María Armingol, and Javier Fernández. "Pre-collision systems for urban environment accidents avoidance." Securitas Vialis 5, no. 1-3 (July 25, 2013): 25–33. http://dx.doi.org/10.1007/s12615-013-9068-1.

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Liu, Yuhong, Chunsheng Yang, Yubin Yang, Fuhua Lin, Xuanmin Du, and Takayuki Ito. "Case learning for CBR-based collision avoidance systems." Applied Intelligence 36, no. 2 (October 27, 2010): 308–19. http://dx.doi.org/10.1007/s10489-010-0262-z.

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Metar, Manas. "Designing a Vehicle Collison-Avoidance Safety System using Arduino." International Journal for Research in Applied Science and Engineering Technology 9, no. 12 (December 31, 2021): 1690–96. http://dx.doi.org/10.22214/ijraset.2021.39605.

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Abstract: The future of automotive relies on the mechatronic and electronic systems. The worldwide growth of automotive towards electronic systems suggests that driverless cars would soon be the common commuters. With such improvements safety of the passengers becomes first priority for the manufacturers. Nowadays automobiles come with high end technologies and quick responsive electronic systems. In addition to the passive safety systems, active safety systems definitely avoid collision thereby reducing the chances of injury and death. This project shows the working of an active safety system that is collision avoidance system. To create the model, TINKERCAD software has been used and a detailed working is explained. As a result, the system detects traffic and can alert the driver and stop the vehicle before meeting the collision. Keywords: Active Safety System, Arduino, Tinkercad, Vehicle Electronics System, Automotive Safety System, Collision Avoidance System, Self-Driving Car, Driverless Vehicle.

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Statheros, Thomas, Gareth Howells, and Klaus McDonald Maier. "Autonomous Ship Collision Avoidance Navigation Concepts, Technologies and Techniques." Journal of Navigation 61, no. 1 (December 10, 2007): 129–42. http://dx.doi.org/10.1017/s037346330700447x.

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This study provides both a spherical understanding about autonomous ship navigation for collision avoidance (CA) and a theoretical background of the reviewed work. Additionally, the human cognitive abilities and the collision avoidance regulations (COLREGs) for ship navigation are examined together with water based collision avoidance algorithms. The requirements for autonomous ship navigation are addressed in conjunction with the factors influencing ship collision avoidance. Humans are able to appreciate these factors and also perform ship navigation at a satisfactory level, but their critical decisions are highly subjective and can lead to error and potentially, to ship collision. The research for autonomous ship navigation may be grouped into the classical and soft computing based categories. Classical techniques are based on mathematical models and algorithms while soft-computing techniques are based on Artificial Intelligence (AI). The areas of AI for autonomous ship collision avoidance are examined in this paper are evolutionary algorithms, fuzzy logic, expert systems, and neural networks (NN), as well as a combination of them (hybrid system).

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