• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.921-925
• /
• 1987

This paper presents the recent findings for collision avoidance of two manipulators in addition to the results shown in Lee [4]. The collision situation we assume here is that the prespecified final time $K_{f}$ and the prespecified path of one robot can be modified for the purpose of collision avoidance with the other robot. The collision avoidance problem is resolved into three independent categories for a systematic approach.h.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.12 no.1
• /
• pp.541-551
• /
• 2020

Based on the trend, there have been numerous researches analysing the ship collision risk. However, in this scope, the navigational conditions and external environment are ignored or incompletely considered in training or/and real situation. It has been identified as a significant limitation in the navigational collision risk assessment. Therefore, a novel algorithm of the ship navigational collision risk solving system has been proposed based on basic collision risk and vulnerabilities of marine accidents. The vulnerability can increase the possibility of marine collision accidents. The factors of vulnerabilities including bad weather, tidal currents, accidents prone area, traffic congestion, operator fatigue and fishing boat operating area are involved in the fuzzy reasoning engines to evaluate the navigational conditions and environment. Fuzzy logic is employed to reason basic collision risk using Distance to Closest Point of Approach (DCPA) and Time of Closest Point of Approach (TCPA) and the degree of vulnerability in the specific coastal waterways. Analytical Hierarchy Process (AHP) method is used to obtain the integration of vulnerabilities. In this paper, vulnerability factors have been proposed to improve the collision risk assessment especially for non-SOLAS ships such as coastal operating ships and fishing vessels in practice. Simulation is implemented to validate the practicability of the designed navigational collision risk solving system.

• Journal of KIISE:Computer Systems and Theory
• /
• v.31 no.3_4
• /
• pp.247-256
• /
• 2004

This paper presents an efficient collision detection algorithm the performance of which is independent of animation speed. Most of the previous collision detection algorithms are incremental and discrete methods, which find out the neighborhood of the extreme vertex at the previous time instance in order to get an extreme vertex at each time instance. However, if an object collides with another one with a high torque, then the angular speed becomes faster. Hence, the candidate by the incremental algorithms may be farther from the real extreme vertex at this time instance. Therefore, the worst time complexity nay be $O(n^2)$, where n is the number of faces. Moreover, the total time complexity of incremental algorithms is dependent on the time step size of animation because a smaller time step yields more frequent evaluation of Euclidean distance. In this paper, we propose a new method to overcome these drawbacks. We construct a spherical extreme vertex diagram on Gauss Sphere, which has geometric properties, and then generate the distance function of a polyhedron and a plane by using this diagram. In order to efficiently compute the exact collision time, we apply the interval Newton method to the distance function.

• IE interfaces
• /
• v.22 no.3
• /
• pp.278-286
• /
• 2009

The anti-collision algorithms to identify a number of tags in real-time in RFID systems are divided into the anti-collision algorithms based on the Framed slotted ALOHA that randomly select multiple slots to identify the tags, and the anti-collision algorithms based on the Tree-based algorithm that repeat the questions and answer process to identify the tags. In the hybrid algorithm which is combined the advantages of these algorithms, tags are distributed over the frames by selecting one frame among them and then identified by using the Query tree frame by frame. In this hybrid algorithm, however, the time of identifying all tags may increase if many tags are concentrated in a few frames. In this study, to improve the performance of the hybrid algorithm, we suggest an improved algorithm that the tags select a specific group of frames based on the earlier bits of the tag ID so that the tags are distribute equally over the frames. By using the simulation and mathematical analysis, we show that the suggested algorithm outperforms traditional hybrid algorithm from the viewpoint of the number of queries per frame and the time of identifying all tags.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.28 no.6B
• /
• pp.544-552
• /
• 2003

This paper suggests an instruction code sufficiency algorithm preventing data collision when multiple transponders attempt to connect in the radio frequency identification system. Conventional time domain procedure generates unconditional collision. On the other hand, this algorithm prevents data collision by transmitting data when it meets instruction code. When multiple transponders are transmitting data coincidently, they exploit desired data with using difference of arrival time generated by recognition distance, respectively. As a result of simulation, utilizing the wireless recognition system, adopting the suggested algorithm, operating in 13.56MHz frequency band, it verify that there is Anti-collision and data loss by ensuring transmission time difference of one bit by adopting this algorithm.

• Proceedings of the Safety Management and Science Conference
• /
• 2006.11a
• /
• pp.239-254
• /
• 2006

In mold structure machining, tool interference is a phenomenon which results from a collision between a blade of tool and a workpiece. Also tool collision is a phenomenon which results from a collision of holder with the object to be machined. These phenomena not only cause damages to mold and tool but also increase machining time and cost. To detect a collision of a tool to mold structure, first of all, the mold structure and a tool must be defined with famous geometric models such CSG, B-rep, and Voxel. A tool is defined as a combination of the blade, the shank, and the holder. This thesis reviews various collision detection algorithms using z-map and computer 3D graphic collision detection algorithms for the tool in machining a mold structure.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.3
• /
• pp.233-238
• /
• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.10A
• /
• pp.987-996
• /
• 2008

In this paper, the conventional anti-collision algorithms, such as Channel Monitoring algorithm and Pulse Protocol algorithm are analyzed. To decrease tag identification time, and increase system throughput and efficiency, we propose a new reader anti-collision algorithm, Pulse Protocol-based Hybrid Reader Anti-collision Algorithm, using Slot-occupied Probability under dense reader environment. The proposed algorithm uses Slot-occupied Probability to improve the performance of Pulse Protocol Algorithm. That is, A reader checks Slot-occupied Probability after generating random backoff time. If Slot-occupied Probability is greater than 0, it uses another new random backoff time to avoid reader collision. We also compare the performance of the proposed algorithm with those of Channel Monitoring and Pulse Protocol algorithms in respect of identification time system throughput, and system efficiency. Simulation results show that the proposed algorithm has an increment of 5% of identification time and system throughput as increasing the number of readers.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.7 no.8
• /
• pp.233-247
• /
• 1999

Traffic accidents are normally caused by late or faulty judgements due to the driver's inaccurate estimation of the distance, velocity, and acceleration from the surrounding vehicles as well as his carelessness or inattention. Thus, the development of collision avoidance systems is motivated by their great potential for increased vehicle safety. A typical collision avoidance system consists of the forward-looking sensor, the criteria for activation of collision warming and avoidance, the collision avoidance maneuvers, and the user interface. This thesis is concerned with the development of a collision warning algorithm in which the driver is warned of approaching collision with the visual and/or the audible signals . The warning algorithm based on fuzzy logic is presented here based on new warning criteria. It has been newly derived from the conventional warning equation by adding a new input variable of the required deceleration to avoid collision. The algorithm is also able to adapt to the individual driver's taste along with the different road conditions by externally controlling the warning intensity. Finally , the proposed algorithm has been validated using computer simulation.

• 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.