• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.475-480
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• 2004

Author presented some study with regard to “automatic control for ship collision avoidance system” before. Those papers are to deal with unsolved problem,; in the previous study. In this paper, two issues relating to ship collision avoidance were investigated. One is to suggest a new algorithm of avoidance of a group ship. This algorithm is useful when a ship takes avoiding action for a group fish boats and a group of merchant vessels. In the stage of taking avoidance action, newly-developed algorithm was used. the other is to develop a unified model of collision risk. Generally collision risk changes according to various type of encounters. The new model is to take into account of these situations. The above-mentioned algorithm and model were verified through simulation under various encounters between ships.

• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.24-31
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• 2013

This paper describes a coordinated control algorithm for rear-side collision avoidance. In order to assist driver actively and increase driver's safety, the proposed coordinated control algorithm is designed to combine lateral control using a steering torque overlay by Motor Driven Power Steering (MDPS) and differential braking by Vehicle Stability Control (VSC). The main objective of a combined control strategy is twofold. The one is to prevent the collision between the subject vehicle and approaching vehicle in the adjacent lanes. The other is to limit actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort. In order to achieve these goals, the Lyapunov theory and LMI optimization methods has been employed. The proposed coordinated control algorithm for rear-side collision avoidance has been evaluated via simulation using CarSim and MATLAB/Simulink.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.107-112
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• 2022

The automotive industry is motivated to provide more and more amenities to its customers. The industry is taking advantage of artificial intelligence by increasing different sensors and gadgets in vehicles machoism is forward collision warning, at the same time road accidents are also increasing which is another concern to address. So there is an urgent need to provide an A.I based system to avoid such incidents which can be address by using artificial intelligence and global positioning system. Automotive/smart vehicles protection has become a major study of research for customers, government and also automotive industry engineers In this study a two layered novel hypothetical approach is proposed which include in-time vehicle/obstacle detection with auto warning mechanism for collision detection & avoidance and later in a case of an accident manifestation GPS & video camera based alerts system and interrupt generation to nearby ambulance or rescue-services units for in-time driver rescue.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1023-1030
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• 2021

Korea Maritime Safety Tribunal (KMST) statistics released in of 2019 indicated that most collision accidents involving small-size vessels with less than 20 gross-tonnage occur mainly due to operational carelessness, such as forward-looking negligence and unskilled vessel control. As an effective remedy, training and education for vessel operators are being strengthened to prevent accidents. However, collision accidents are increasing, and technical measures are continuously developed to reduce accidents caused by human factors. In this study, an avoidance algorithm and prototype of terminal-controller against collision between two nearby vessels was developed for implementation on relative navigation control by adopting WAVE telecommunication technology. Moreover, several sea trial tests were performed to verify the collision avoidance algorithm and control system using two fishing vessels for dif erent scenarios.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.425-429
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• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• Journal of KIISE:Software and Applications
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• v.34 no.3
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• pp.235-245
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• 2007

UUV(Unmanned Underwater Vehicle) should possess an intelligent control software performing intellectual faculties such as cognition, decision and action which are parts of domain expert's ability, because unmanned underwater robot navigates in the hazardous environment where human being can not access directly. In this paper, we suggest a RVC intelligent system architecture which is generally available for unmanned vehicle and develope an autonomous navigation system for UUV, which consists of collision avoidance system, path planning system, and collision-risk computation system. We present an obstacle avoidance algorithm using fuzzy relational products for the collision avoidance system, which guarantees the safety and optimality in view of traversing path. Also, we present a new path-planning algorithm using poly-line for the path planning system. In order to verify the performance of suggested autonomous navigation system, we develop a simulation system, which consists of environment manager, object, and 3-D viewer.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.10a
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• pp.167-170
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• 2013

The objective of this paper is to describe the result of development of collision avoidance supporting system, based on the electronic chart display and information system(ECDIS). In real ship operations, collision accidents happen frequently due to human errors such as the lax vigilance, misinterpretation of international regulations for preventing collisions at sea (COLREGs). We developed a system which will help to avoid these kind of accidents. This system can automatically recognize the risk of collisions, generate the safe alternative routes that comply with COLREGs, and then deliver the results into auto pilot. A virtual simulation assuming progressive collision situations revealed the usefulness of this system.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.54-60
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• 2018

In this paper, we propose an efficient automatic control method for the collision avoidance of drones. In general, the drones are controlled by transmitting to the flight control (FC) module the received PWM signals transmitted from a RC controller which transduce movements of the knob into PWM signal. We implemented the collision avoidance module in-between receiver and FC module to monitor and change the throttle, pitch and roll control signals to avoid drone collision. In order to avoid the collision, a LiDAR distance sensor and a servo-motor are installed and periodically measure the obstacle distance within -45 degrees from 45 degrees in flight direction. If the collision is predicted, the received PWM signal is changed and transmitted to the FC module to prevent the collision. We applied our proposed method to a hexacopter and the experimental results show that the safety is improved because it can prevent the collision caused by the inadvertency or inexperienced maneuver.