• Title/Summary/Keyword: Collision Avoidance System

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An Automatic Travel Control of a Container Crane using Neural Network Predictive PID Control Technique (신경회로망 예측 PID 제어법을 이용한 컨테이너 크레인의 자동주행제어)

  • Suh Jin Ho;Lee Jin Woo;Lee Young Jin;Lee Kwon Soon
    • Journal of the Korean Society for Precision Engineering
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    • v.22 no.1
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    • pp.61-72
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    • 2005
  • In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

Anti-Sway Position Control of an Automated Transfer Crane Based on Neural Network Predictive PID Controller

  • Suh Jin-Ho;Lee Jin-Woo;Lee Young-Jin;Lee Kwon-Soon
    • Journal of Mechanical Science and Technology
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    • v.19 no.2
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    • pp.505-519
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    • 2005
  • In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.

Study on Application of Real Time AIS Information

  • Hori, Akihiko;Arai, Yasuo;Okuda, Shigeyuki
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2006.10a
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    • pp.63-70
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    • 2006
  • Now AIS (Automatic Identification System) has been under full operation for ocean-going vessels, and it is expected not only to identify target ships but also to take collision avoidance using AIS information with Radar and ARFA information in restricted waters. AIS information is very useful not only for target identifications but also for taking collision avoidance, but OOW (Officer OF Watch-keeping) should take care of systematic observation of AIS because of miss-operation or malfunction of AIS. In this paper, we propose the application of Onboard Ship Handling Simulator with visual system displayed 3D scene added AIS performance such as blind areas of Island, microwave propagation, ok. and maneuvering simulation using TK models, applied real time AIS information and research the effectiveness of this system for ship handling in restricted waters, and discus the principal issues through the on board experiments. Conclusion will be expected that; 1) systematic observation of ASS information using visual scene simulator with AIS information will be effectively done, 2) observation compared with Radar and ARPA information will be also useful to make a systematic observation, 3) using the recording and replay function of simulation will be useful not only for systematic observation but also to measure and to encourage officers' skill.

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Task Allocation and Path Planning for Multiple Unmanned Vehicles on Grid Maps (격자 지도 기반의 다수 무인 이동체 임무 할당 및 경로 계획)

  • Byeong-Min Jeong;Dae-Sung Jang;Nam-Eung Hwang;Joon-Won Kim;Han-Lim Choi
    • Journal of Aerospace System Engineering
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    • v.18 no.2
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    • pp.56-63
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    • 2024
  • As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.

Design and Analysis of Collision Alarm Using Infrared Distance Sensor (적외선 거리 센서를 사용한 충돌 경보기 설계 및 특성 분석)

  • Kim, Byoung-Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.24 no.6
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    • pp.634-639
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    • 2014
  • This paper specifies a collision alarm using an infrared distance sensor that can identify the dangerousness of collision of active mobile robotic systems to various objects, such as unknown objects or another robots. And we analyse the major operating signals and features of the collision alarm for effective industrial applications. For the purpose, we consider a typical parking situation of a mobile robotic system with the collision alarm designed. As a result, it is shown that the proposed collision alarm is applicable for effective collision avoidance and safe driving of various mobile robots or vehicles.

Implementing Dynamic Obstacle Avoidance of Autonomous Multi-Mobile Robot System (자율 다개체 모바일 로봇 시스템의 동적 장애물 회피 구현)

  • Kim, Dong W.;Yi, Cho-Ho
    • Journal of the Korea Society of Computer and Information
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    • v.18 no.1
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    • pp.11-19
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    • 2013
  • For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

A Study on the Development of the Position Detection System of Small Vessels for Collision Avoidance (충돌 회피를 위한 소형 선박의 위치 검출 시스템 개발에 관한 연구)

  • Le, Dang-Khanh;Nam, Teak-Kun
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.20 no.2
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    • pp.202-209
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    • 2014
  • In this paper, a developed device for detecting target's location and avoiding collision is proposed. Velocity and acceleration model of target are derived to estimate target's information, i.e. position, velocity and acceleration considering process and measurement noise. Kalman filtering method applied to the estimation process and its results was confirmed by simulation. The distance measurements system using laser sensor for moving target system is also developed to confirm the effectiveness of the proposed scheme. Experiments to get information of moving target with velocity and acceleration model was executed. The data with filtering and without filtering was compared by experiments. Discontinuous measured data was changed to smooth and continuous data by Kalman filtering. It is confirmed that desired data was obtained by applying proposed scheme. UI for measuring and monitoring the target data is developed and visual and auditory alarm function is attached on the system Finally, position estimation system of moving target with good performance is achieved by low price equipments.

A Design of the speed pattern and a collision avoidance algorithm for the vehicle operational control of personal rapid transit system (개인고속이동 시스템의 차량운행제어를 위한 속도 패턴 및 충돌방지 알고리즘의 설계)

  • Lee, Jun-Ho
    • Proceedings of the KIEE Conference
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    • 2007.10c
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    • pp.244-246
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    • 2007
  • 본 논문에서는 완전 자동화된 개인고속이동 시스템의 원활한 차량운행 제어를 위한 운행속도 패턴과 차량간의 충돌을 방지하기 위한 알고리즘의 설계 및 설계된 알고리즘의 검증을 위한 하드웨어 구성에 대해서 다룬다.

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Development of Collision Safety Control Logic using ADAS information and Machine Learning (머신러닝/ADAS 정보 활용 충돌안전 제어로직 개발)

  • Park, Hyungwook;Song, Soo Sung;Shin, Jang Ho;Han, Kwang Chul;Choi, Se Kyung;Ha, Heonseok;Yoon, Sungroh
    • Journal of Auto-vehicle Safety Association
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    • v.14 no.3
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    • pp.60-64
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    • 2022
  • In the automotive industry, the development of automobiles to meet safety requirements is becoming increasingly complex. This is because quality evaluation agencies in each country are continually strengthening new safety standards for vehicles. Among these various requirements, collision safety must be satisfied by controlling airbags, seat belts, etc., and can be defined as post-crash safety. Apart from this safety system, the Advanced Driver Assistance Systems (ADAS) use advanced detection sensors, GPS, communication, and video equipment to detect the hazard and notify driver before the collision. However, research to improve passenger safety in case of an accident by using the sensor of active safety represented by ADAS in the existing passive safety is limited to the level that utilizes the sudden braking level of the FCA (Forward Collision-avoidance Assist) system. Therefore, this study aims to develop logic that can improve passenger protection in case of an accident by using ADAS information and driving information secured before a collision. The proposed logic was constructed based on LSTM deep learning techniques and trained using crash test data.

Analysis of Effect of the Ship's Route Exchange through the Ship Handling Simulation (선박조종 시뮬레이션을 통한 선박 경로 교환의 효과 분석)

  • Paek, Yun-Ji;Jung, Chang-Hyun
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.24 no.1
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    • pp.10-17
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    • 2018
  • To prepare the integrated safety management system 'e-navigation', research is being conducted on the route exchange for sharing intended routes between ship and ship, and between ship and land. But they don't have enough specific grounds for the effects of route exchange and the necessity of its introduction and focus on technical aspects like the implementation of route exchange. This study tried to quantitatively analyze the effects of route exchange on sailing safety with the use of ship handling simulation, integrate simulation performers' subjective evaluations, and investigate the effects of route exchange. The ship-to-ship route exchange resulted in the initial collision avoidance action time was 3.43 minutes faster, the collision avoidance direction change rate was 60 %, the proximity to target A was 31 %, and Mean Rudder Angle Index decreased by 57 %. In addition, 95 % of the survey respondents had an effect on the decision making of collision avoidance, 85 % had a positive impact on safety navigation, 90 % had an accident prevention effect, 70 % reduced the psychological burden of officers, and 70 % should be introduced in practice.