Results 131 to 140 of about 6,421 (163)
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Spacecraft formation reconfiguration with dynamic collision avoidance
2013 IEEE Aerospace Conference, 2013In this paper we present three different solutions to the collision avoidance problem for spacecraft formations based on the Null-Space Based (NSB) behavioral control concept. In the first case, a constant sized sphere of safety area is centered on each spacecraft and obstacle, and the collision avoidance task is activated when this area is entered ...
Rune Schlanbusch, Espen Oland
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Dynamic collision avoidance and constraint violation compensation
Nonlinear Dynamics, 1995This paper uses concepts in multibody dynamics, together with a collision detection algorithm to study the dynamics of collision avoidance. Obstacle avoidance of a mechanical system in motion is expressed in terms of distances, relative velocities and relative accelerations between potentially colliding bodies.
F. M. L. Amirouche, C. W. Tung
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Efficient manipulator collision avoidance by dynamic programming
Robotics and Computer-Integrated Manufacturing, 1991Abstract This paper describes a research effort in the area of collision avoidance path planning for robotic manipulators. A robotic arm with known geometry is to perform a spatial manipulation in the presence of known obstacles in its workspace. The task is to generate a series of waypoints for its path to pass through which will guarantee a safe ...
John Cesarone, Kornel F. Eman
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Behavior dynamics of collision-avoidance in motion planning of mobile robots
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2005This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot.
Xing Jian Jing +2 more
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Sequential convex programming MPC for dynamic vehicle collision avoidance
2017 IEEE Conference on Control Technology and Applications (CCTA), 2017This paper presents a dynamic collision avoidance controller of a connected vehicle group using Model Predictive Control (MPC). The vehicles should follow a predefined reference trajectory while simultaneously avoiding collisions on this trajectory.
Bassam Alrifaee +2 more
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Analytical formulation of impulsive collision avoidance dynamics
Celestial Mechanics and Dynamical Astronomy, 2013The paper deals with the problem of impulsive collision avoidance between two colliding objects in three dimensions and assuming elliptical Keplerian orbits. Closed-form analytical expressions are provided that accurately predict the relative dynamics of the two bodies in the encounter b-plane following an impulsive delta-V manoeuvre performed by one ...
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Dynamic Head-on Robot Collision Avoidance Using LSTM
Neural Processing Letters, 2022S. M. Haider Jafri, Rahul Kala
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Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion planner and dynamic pattern generator interacts by exchanging the trajectory, to obtain 3D whole-body dynamic motions simultaneous tasks including locomotion, in complex ...
Eiichi Yoshida +4 more
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Dynamic Motion Planning Algorithm in Human-Robot Collision Avoidance
2019The collision-free robotic motion planning algorithm in a dynamic environment is an effective method for the prevention of collision in a human-robot interaction scenario. In this paper, an improvement of the Rapidly-exploring Random Tree (RRT) algorithm is proposed to avoid the potential collision between robot and human by taking the costmap of robot
Lei Zhu +3 more
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On-Line Collision Avoidance of Mobile Robot for Dynamically Moving Obstacles
2002This paper proposes a realistic on-line navigation method of mobile robot in dynamical environment where multiple obstacles (many people) are always changing their velocities and the robot does not know the velocities in advance. Considering characteristics of actual sensor system for mobile robot, a method to estimate the velocity of moving obstacles ...
Nobuhiro Ushimi +3 more
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