Cooperative mapping and exploration using counter-rotational potential fields
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This paper presents a novel technique for mapping and exploration using cooperating autonomous underwater vehicles. Rather than using the typical lawnmower sweep pattern to search an entire area, the proposed navigational plan involves guiding the formation directly towards each object of interest in turn, before arriving at a final goal position. This is achieved by the use of traditional artificial potential fields alongside counter-rotational potential fields. These clockwise and counter-clockwise fields are employed simultaneously by vehicles to ensure that the entire object is scanned rather than simply avoided as is the case with traditional collision avoidance techniques. The proposed methodology allows a formation to have fluid-like motion whilst a separation distance between cooperating agents (free of angular constraints) is maintained with a greater degree of flexibility than traditional formation control approaches. Owing to its nature, this technique is suited for applications such as exploration, mapping and underwater inspection to name a few. Simulation results demonstrate the efficacy of the proposed approach.Keywords:
Position (finance)
Potential field
선박운항시스템은 첨단화 되고 있으며, 선박충돌회피시스템에 관한 연구가 활발히 진행되고 있다. 그럼에도 선박 충돌사고율은 줄어들지 않는 실정이다. 시스템에 의한 충돌회피 조종에도 불구하고 근접거리로 충돌위험이 계속 존재한다면, 충돌위험 결정 및 판단기준에 있어서 단순히 TCPA, DCPA만의 입력변수 사용은 근접상황에서 충돌위험회피에 도움을 주지 못한다. 최근 5년간 국내 선박충돌사고 상대선 초인거리 조사에 의하면 약 $45\%$ 가 2마일 이하 근거리 초인하는 것으로 분석된다. 이런 요소는 선박조종성능 특성과 행위결정을 위한 시간적 특성의 영향을 많이 받는 근접조우를 유발한다. 따라서 근접상황에서 선박충돌회피동작 결정에 관한 연구는 안전항해의 필수적인 요소라고 할 수 있을 것이다. 본 논문에서는 선박조종성능 특성에 따른 선회조종과 선박의 거동을 분석하여 근접상황에서 신속하고 올바른 층돌회피 조선을 지원할 수 있는 선박충돌회피지원 모델을 제시한다. Up to now a lot of the study on ship collision avoidance systems have proceeded actively. However the rate of ship collision accidents hasn't decreased yet. If there is collision risk in close quarters situation in spite of maneuvering ship for collision avoidance according to the system, only use of TCP A and DCP A as input factor for collision risk decision is not useful to avoiding collision action. For the recent 5 years by the analysis of first observation distance about approaching ship in domestic collision accidents, nearly $45\%$ of accidents is close first observation less than 2 miles. Therefore it is essential part for safety navigations to study for collision avoidance action in close encounter. In this paper, as a fundamental study of supporting collision avoidance maneuvering for navigators, we proposed ship collision avoidance support model in close quarters situation through analysis qf collision accidents to effectively get rid of the causes.
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This paper designs a distributed cooperative controller based on artificial potential function, which is used for communication maintenance, formation configuration and collision avoidance among unmanned aerial vehicles (UAVs). Firstly, the quaternion dynamics mathematical model of the single quadrotor UAV is established and the leader-follower formation method is selected to establish the UAVs distributed communication topology graph. Then, an artificial potential function formation cooperative controller is designed to complete the distributed communication maintenance, formation configuration and collision avoidance of four quadrotor UAVs. Finally, numerical simulation verifies the effectiveness of the designed controller.
Potential field
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Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering collision avoidance. It is also the premise and one of the necessary conditions of vehicle active safety. A new technique for vehicle collision avoidance was proposed. Based on the artificial potential field theory, the lane potential, the road potential function and the obstacle potential function as well as the velocity potential function of the vehicle were constructed. Then the potential function of the vehicle obstacle avoidance problem was constructed with the three potential functions above. The vehicle obstacle avoidance problem was then converted into an optimization problem. The trajectory of the vehicle in the obstacle avoidance process was obtained by solving the optimal control problem. The simulation results show that the proposed method can solve the collision avoidance problem and provide the lane keeping and lane change problem with theoretical support
Obstacle avoidance
Potential field
Active safety
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This paper presents an autonomous trajectory planning algorithm for ships or unmanned surface vehicles (USVs) to navigate safely in dynamic environments based on the modified artificial potential field (APF). The algorithm not only addresses collision avoidance (CA) for stationary and moving hazards, but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGS, for COLlision REGulationS). Furthermore, the algorithm is still effective for the USV to prevent a collision once other ships disregard their responsibility under COLREGS. Assumptions, a concise description of the method developed and results of simulated navigational situations are included. The developed solution can be applied in decision support systems on board a ship or in an intelligent Obstacle Detection and Avoidance system.
Obstacle avoidance
Potential field
Unmanned surface vehicle
Route Planning
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In this work we propose an online 3D trajectory generation based Artificial Potential Field method (APF) for fixed-wing UAVs. The proposed approach uses a simplified dynamic model in order to ensure the feasibility of the generated trajectory by the real UAV. Simulations show the feasibility of the approach in the cases of waypoints navigation in both free environment and obstructed environment.
Fixed wing
Potential field
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Collision is one of the major accidents threaten the safety of navigation. For avoiding collision, collision risk index is researched and modeled for automatic collision avoidance and collision risk monitoring. This paper proposed a new collision risk index model. The model was based on the collision avoidance manoeuvre of course alteration, which represent the collision risk by calculating the amplitude of alteration that avoid invading ship domain of target ship. Additionally, another collision avoidance manoeuver, which is speed reduction, was incorporated into the model and was combined with course alteration by fuzzy logic. For validating the effectiveness, the AIS data of Northern Yellow Sea were used for experiments. The results showed that the collision risk between ships can be effectively represented by the proposed model. In addition, the advantage of the proposed model was verified by comparing with the danger sector model. The proposed model can be used in automatic collision avoidance system and can provide assistance to maritime surveillance operators in collision risk monitoring, which will make contribution to the navigational safety.
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The paper presents a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, it is universal applicable by driving the vehiclepsilas auto pilot. The solution is verified, using a group of UAVs based on a simplified small-scale helicopter, which is simulated in MATLABtrade/Simulinktrade. As necessary for helicopters, the potential field approach is realized in 3D including obstacle and collision avoidance. The collision avoidance strategy could be used separately for the sense and avoid problem.
Control reconfiguration
Obstacle avoidance
Potential field
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Aiming at the problem of path planning for multiple unmanned aerial vehicles (UAVs) in complex obstacle environ-ment, a new algorithm for obstacle avoidance and collision avoidance path planning is proposed. Based on the Artificial Potential Field (APF) method, the algorithm optimizes the attractive potential field function and the repulsive potential field function. Besides, this paper adds both a priority collision avoidance strategy between UAVs and temporary virtual target strategy. This algorithm not only improves the success rate of path planning, but also considers the collision problem when multiple UAVs cooperate to complete the task. The experimental simulation results show that, compared with the traditional APF method, the algorithm can accurately and effectively complete the path planning task in the complex obstacle environment, and realize the collaborative path planning of multi- UAV formations at the same time.
Obstacle avoidance
Potential field
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Based on the analysis of the concept of ship domain, starting from the reality of collision avoidance, according to the international rules for preventing collision at sea and the practices of seafarers in collision avoidance, the scope of ship field is quantitatively studied, so that the ships sailing on the sea always keep a safe area in different waters, so as to achieve good collision avoidance effect and reduce the occurrence of collision accidents.
Scope (computer science)
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Up to now a lot of the study on ship collision avoidance systems have proceeded actively. However the rate of ship collision accidents hasn't decreased yet. If there is collision risk in close quarters situation in spite of maneuvering ship for collision avoidance according to the system, only use of TCP A and DCP A as input factor for collision risk decision is not useful to avoiding collision action. For the recent 5 years by the analysis of first observation distance about approaching ship in domestic collision accidents, nearly 45% of accidents is close first observation less than 2 miles. Therefore it is essential part for safety navigations to study for collision avoidance action in close encounter. In this paper, as a fundamental study of supporting collision avoidance maneuvering for navigators, we proposed ship collision avoidance support model in close quarters situation through analysis qf collision accidents to effectively get rid of the causes.
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