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COLREGS-based Path Planning for Ships at Sea Using Velocity Obstacles [PDF]
IEEE Access, 2021 Recent studies have made significant development in path planning for ships. However some studies blindly obey rules of COLREGS (International Regulations for Preventing Collisions at Sea) or only adopt turning to starboard ignoring actual practice, like,
Wenjun Zhang +6 more
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IEEE AccessThe steering behavior of autonomous agents in animation and games aims to form agent movement to navigate around a virtual world. Leader-following behavior is a steering behavior formed by followers who must follow their leader while the leader guides ...
Moch Fachri +2 more
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Integration of Elliptical Ship Domains and Velocity Obstacles for Ship Collision Candidate Detection [PDF]
TransNav, 2019 The maritime shipping industry has been making significant contributions to the development of the regional and global economy. However, maritime accidents and their severe consequences have been posing an incrementing risk to the individuals and ...
Pengfei Chen +2 more
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IEEE Access, 2020 It is challenging for a mobile robot to avoid moving obstacles in dynamic environments. Traditional velocity obstacle methods do not fully consider the obstacles moving with the speeds larger than the maximum speed of the robot.
Tianye Xu, Shuiqing Zhang, Zeyu Jiang
exaly +4 more sources
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles [PDF]
American Control Conference, 2023 This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments.
Aurora Haraldsen +3 more
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DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles [PDF]
IEEE Transactions on Robotics, 2023 This article proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of pedestrians. The policy
Zhanteng Xie, Philip Dames
exaly +2 more sources
Reciprocally-Rotating Velocity Obstacles [PDF]
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014 This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by Chevron, IBM, Intel, Orale/Sun and by Award KUS-C1-016-04, made by King Abdullah University of Science and Technology (KAUST).
Giese, Andrew +2 more
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International Journal of Advanced Robotic Systems, 2021 Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching
Liangliang Zhao +4 more
doaj +2 more sources
Ocean Engineering, 2020 In this research, a hybrid approach for global path planning for Maritime Autonomous Surface Ship (MASS) is proposed, which generates the shortest path considering the collision risk and the proximity between path and obstacles.
Pengfei Chen +4 more
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Multi-Agent Obstacle Avoidance Using Velocity Obstacles and Control Barrier Functions
2025 IEEE International Conference on Robotics and Automation (ICRA)Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environments, they don't guarantee safety and can show overly conservative behavior in common situations.
Alejandro Sánchez-Roncero +2 more
openaire +3 more sources