• Journal of Information Processing Systems
• /
• v.16 no.6
• /
• pp.1324-1342
• /
• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• Korean Journal of Applied Biomechanics
• /
• v.31 no.1
• /
• pp.37-43
• /
• 2021

Objective: The purpose of this study was to investigate the effect of mobile phone text messaging on the collision avoidance strategy for an approaching and stationary pedestrian. Method: Eighteen healthy young adults participated in this study. Each participant was asked to perform a task to walking with/without mobile phone text messaging and a task to avoid collisions with another pedestrian who was approaching or stationary during walking. Results: When text messaging with avoidance collision, it showed an early onset time, a larger mediolateral COM trajectory, trunk rotation angle and trunk rotation velocity (p<.05). Also, compared to an approaching pedestrian, when avoiding collision with a stationary pedestrian, it showed a later onset time, a lager avoidance displacement, mediolateral COM trajectory, trunk rotation angle (p<.05). Conclusion: Results suggest that mobile phone text messaging while collision avoidance leads to delay the perception stage and alters the adaptation stage. Consequently, pedestrian executed in an exaggerated avoidance action to create a greater safety margin when attending to mobile phone test messages while avoiding another pedestrian.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.12 no.1 s.24
• /
• pp.47-52
• /
• 2006

Recently, ship collision accidents account for $20%{\sim}34%$ of domestic marine accidents, also have increased continually. In this paper, therefore we propose the development of Ship Collision A voidance Support program for decreasing ship collision accidents. This program has been developed on the basis of CCAS-Model. A CCAS-Model has ship's maneuvering performance and has been studied for the propose of supporting to avoid ship collision in close quarters. Besides. the program will effectively support maneuvering for collision avoidance through display of the feasible area and the method of collision avoidance using own ship's turning characteristic about action of target ship's keeping course and velocity in various encounter.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.11
• /
• pp.1193-1199
• /
• 2014

To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.2 no.2
• /
• pp.1-11
• /
• 1994

The most commonplace of collisions that directly affect people is that of vehicles. Safety studies have noted a correlation between vehicle occupant injury severity and velocity changes. Methods for estimating collision velocity changes are discussed here. This topic is part of what is referred to as accident reconstruction. Only planar collisions are considered. When a vehicle collides with another, impact dynamics with friction should be considered. This paper presents a general analysis methodology of impact. must dynamics incorporating friction. The presence of friction between sliding contacts during the impact makes the problem difficult since the events such as reverse sliding or sticking, which may occur at different times throughout the impact, must be determined. This paper uses the results of RICSAC experiments for verifying the developed methodology. The analysis and experimental results agree well.

• 제어로봇시스템학회:학술대회논문집
• /
• 1999.10a
• /
• pp.181-184
• /
• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• Journal of the Korean Society of Safety
• /
• v.15 no.4
• /
• pp.20-27
• /
• 2000

The hat shaped section members, spot welded strength resisting structures are the most energy absorbing ones of automobile components during the front-end collision. Under the static axial collapse load in velocity of 10mm/min and quasi-static collapse load in velocity of 1000mm/min, the collapse characteristics of the hat shaped section and double hat shaped section member have been analyzed by axial collapse tests with respect to the variations of spot weld pitches on the flanges. In addition, the quasi-static collapse simulations have been implemented in the same condition to the experiment's using FEM package, LS-DYNA3D. The simulated results have been verified in comparison with these from the quasi-static axial collapse tests. With the computational approaches the optimal energy absorbing structures can be suggested. Simulations are so helpful that the optimized data be supplied in designing vehicles in advance.

• Journal of Biosystems Engineering
• /
• v.25 no.2
• /
• pp.141-150
• /
• 2000

This study was carried out to de develop a control strategy of a fruit harvesting redundant robot. The method of generating a safe trajectory, which avoids collisions with obstracles such as branches or immature fruits, in the 3D(3-dimension) space using artificial potential field technique and virtual plane concept was proposed. Also, the method of setting reference velocity vectors to follow the trajectory and to avoid obstacles in the 3D space was proposed. Developed methods were verified with computer simulations and with actual robot tests. Fro the actual robot tests, a machine vision system was used for detecting fruits and obstacles, Results showed that developed control method could reduce the occurrences of the robot manipulator located in the possible collision distance. with 10 virtual obstacles generated randomly in the 3 D space, maximum rates of the occurrences of the robot manipulator located in the possible collision distance, 0.03 m, from the obstacles were 8 % with 5 degree of freedom (DOF), 8 % with 6-DOF, and 4% with 7-DOF, respectively.

• Journal of the Society of Naval Architects of Korea
• /
• v.49 no.6
• /
• pp.469-477
• /
• 2012

This paper describes the characteristic analysis of ice impact force for the Arctic structure shape. In the present study an energy method has been used to predict the impact force during the ice-structure collision. This study also employs two concepts for reference contact area and normalized stress in analysis procedure. The influences of factors, such as impact velocity, full penetration depth, structure shape and ice floe size, are investigated. Full penetration occurs, particularly at lower impact velocity when ice thickness increase. But "typical size" ice floe does not expected ever to achieve full penetration during the impact procedure. The structure shape is the dominant factor in ice impact force characteristic. The results for various ice-structure collision scenarios are analyzed.

• The Bulletin of The Korean Astronomical Society
• /
• v.38 no.1
• /
• pp.46.1-46.1
• /
• 2013

High velocity clouds (HVCs) are H I clouds that move with large speed (${\mid}V_{LSR}{\mid}$ >100 km/s) in the halo of the Milky Way. It is now evident that at least some populations of HVCs originated from extragalactic sources, either primordial gas left over from the galaxy formation or gaseous material stripped off from other galaxies closely passing by the Milky Way. HVCs with extragalactic origin play an important role in the star formation of the Milky Way when they eventually collide with the disk of the Milky Way. Although it is still observationally controversial whether HVCs are surrounded by dark matter or not, it is theoretically interesting to investigate the effect of dark matter on the collision of HVCs with the disk of the Milky Way. We model this scenario by using hydrodynamic simulations and search for proper parameters that explain the currently available observations such as the Smith Cloud that is thought to have collided with the Galactic disk already.