• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.3B
• /
• pp.248-253
• /
• 2011

Collision avoidance algorithm of vessels have been studied to avoid collision and grounding of a vessel due to human error. In this paper, We propose a collision avoidance algorithm using bayesian estimation theory for safety sailing and reduced risk of collision accident. We calculate collision risk for efficient collision avoidance using bayesian algorithm and determined the safest and most effective collision risk is predicted by using re-planned with re-evaluated collision risk in the future(t=t'). Others ship position is assumed to be informed from AIS. Experimental results show that we estimate the safest and most effective collision risk.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.4
• /
• pp.807-812
• /
• 2015

In RFID system, when multiple tags respond simultaneously, a collision can occur. A method that solves this collision is referred as anti-collision algorithm. In 13.56MHz RFID system of Auto-ID center, STAC protocol is defined as an anti-collision algorithm for multiple tag reading. The PS algorithm divides the tags within the identification range of reader into smaller groups by increasing the transmission power incrementally and identifies them. In this paper, we propose a STAC/PS algorithm that the PS algorithm is applied in the STAC protocol. Through simulations, it is demonstrated that the collision rate for the proposed algorithm is about 50% lower than STAC protocol. Therefore, the STAC/PS algorithm can achieve faster tag identification speed compared with STAC protocol due to the low collision rate.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1996.10a
• /
• pp.279-282
• /
• 1996

Collision avoidance is a method to direct a mobile robot without collision when traversing the environment. This kind of navigation is to reach a destination without getting lost. In this paper, we use a genetic algorithm for the path planning and collision avoidance. Genetic algorithm searches for path in the entire, continuous free space and unifies global path planning and local path planning. It is a efficient and effective method when compared with traditional collision avoidance algorithm.

• Journal of the Society of Naval Architects of Korea
• /
• v.56 no.1
• /
• pp.75-81
• /
• 2019

This study presents an automatic collision avoidance algorithm for autonomous navigation of unmanned surface vessels. The performance of the collision avoidance algorithm is heavily dependent on the estimation quality of the course and speed of traffic ships because collision avoidance maneuvers should be determined based on the predicted motions of the traffic ships and their trajectory uncertainties. In this study, the collision avoidance algorithm is implemented based on the Probabilistic Velocity Obstacle (PVO) approach considering the maritime collision regulations (COLREGs). In order to demonstrate the performance of the proposed algorithm, an extensive set of simulations was conducted and the results are discussed.

• 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 and communication convergence engineering
• /
• v.6 no.1
• /
• pp.24-28
• /
• 2008

In RFID System, when multiple tags respond simultaneously, a collision can occur. A method that solves this collision is referred to anti-collision algorithm. Among the existing anti-collision algorithms, static framed slot allocation algorithm is very simple. But when the number of tags is variable, its performance degrades because of the fixed frame size. This paper proposes an optimal frame size allocation scheme that determines the frame size. The proposed scheme is based on the number of collision slots at every frame. According to the simulation results, the tag identification time is faster that of SFSA.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.1
• /
• pp.158-167
• /
• 1997

For the use of a mobile robot in dynamic environment, a collision-avoidance algorithm with moving obsta- cle is necessary. In this paper, a collsion-avoidance algorithm of a mobile robot is presented, when a mobile robot detects the collision with moving obstacle on the navigational path. Using reported positions of moving obstacle with sensors, the mobile robot predicts the next position of moving obstacle with possibility of collision. The velocity of moving obstacle is modeled as random walk process with Gaussian distribution. The optimal collision-avoidance path in which turning motion of the mobile robot is considered is generated with relative velocity between the mobile robot and moving obstacle. For the safety of collision-avoidance path, attractive potential with the safety factor is suggested. The simulation results using this algorithm show the mobile robot avoids collision with moving obstacle in many cases.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.4A
• /
• pp.431-439
• /
• 2006

RFID Anti-Collision technique is needed to avoid collision problem caused by Radio interference between tags in the same RFID Reader area. It affects the performance and reliability of the RFID System. This paper propose the QT-CBP(Query Tree with Collision-Bit Positioning) Algorithm based on the QT(Query Tree) algorithm. QT-CBP Algorithm use precise collision bit position to improve the performance. We demonstrated the proposed algorithm by simulation. Our algorithm outperformed when each tag bit streams are the more duplicate and the number of tags is increased, compared with QT.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.8A
• /
• pp.805-814
• /
• 2008

Both EPCglobal Generation-2 (Gen2) for passive RFID systems and Intelleflex for semi-passive RFID systems use probabilistic slotted ALOHA with Q algorithm, which is a kind of dynamic framed slotted ALOHA (DFSA), as the tag anti-collision algorithm. A better tag anti-collision algorithm can reduce collisions so as to increase the efficiency of tag identification. In this paper, we introduce and analyze the estimation methods of the number of slots and tags for DFSA. To increase the efficiency of tag identification, we propose two new tag anti-collision algorithms, which are Chebyshev's inequality (CHI) algorithm and hybrid Q algorithm, and compare them with the conventional Q algorithm and adaptive adjustable framed Q (AAFQ) algorithm, which is mentioned in Part I. The simulation results show that AAFQ performs the best in Gen2 scenario. However, in Intelleflex scenario the proposed hybrid Q algorithm is the best. That is, hybrid Q provides the minimum identification time, shows the more consistent collision ratio, and maximizes throughput and system efficiency in Intelleflex scenario.

• Journal of Auto-vehicle Safety Association
• /
• v.5 no.1
• /
• pp.5-10
• /
• 2013

This paper describes a Forward Collision Warning (FCW) system based on the radar driven fusion with camera. The objective of FCW system is to provide an appropriate alert with satisfying the evaluation scenarios of US-NCAP and a driver acceptance. For this purpose, this paper proposed a data fusion algorithm and a collision warning algorithm. The data fusion algorithm generates information of fusion target depending on the confidence of camera sensor. The collision warning algorithm calculates indexes and determines an appropriate alert-timing by using analysis results of manual driving data. The FCW system with the proposed data fusion and collision warning algorithm was investigated via scenarios of US-NCAP and a real-road driving. It is shown that the proposed FCW system can improve the accuracy of an alarm-timing and reduce the false alarm in real roads.