Cooperative Collision Avoidance Method Research Articles

Cooperative collision avoidance algorithm for multi-vehicle based on vehicle networking technology

This paper addresses the problem of low success rate of traditional algorithm collision avoidance and poor control of parking distance. The vehicle network system and the vehicle kinematics model are established. The paper describes accurate estimation of the vehicle driving state in tunnel intranet based on vehicle sensor and vehicle GPS data. Constraints are established for fast response disturbances, rapid stabilisation, reduced braking acceleration and deceleration, and safe distances. From the energy point of view, we consider the relative kinetic energy of any two vehicles under the vehicle network, measure the collision risk, establish the objective function, and analyse the relative kinetic energy of all vehicles approaching the preceding vehicle. In this way, a multi-vehicle cooperative collision avoidance method based on vehicle network technology is realised. The experimental results show that the algorithm has strong collision avoidance performance, and the parking distance control is better, which can ensure safety.

Automated Conflict Resolution Utilizing Probability Collectives Optimizer

Rising manned air traffic and deployment of unmanned aerial vehicles in complex operations requires integration of innovative and autonomous conflict detection and resolution methods. In this paper, the task of conflict detection and resolution is defined as an optimization problem searching for a heading control for cooperating airplanes using communication. For the optimization task, an objective function integrates both collision penalties and efficiency criteria considering airplanes' objectives (waypoints). The probability collectives optimizer is used as a solver for the specified optimization task. This paper provides two different implementation approaches to the presented optimization-based collision avoidance: 1) a parallel computation using multiagent deployment among participating airplanes and 2) semicentralized computation using the process-integrated-mechanism architecture. Both implementations of the proposed algorithm were implemented and evaluated in a multiagent airspace test bed AGENTFLY. The quality of the solution is compared with a negotiation-based cooperative collision avoidance method - an iterative peer-to-peer algorithm.

Real-time cooperative collision avoidance method of multiple mobile robots

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method. The method extended the Velocity Obstacle to multiple mobile robot systems by introducing the concept of the Common Velocity Obstacle, and achieved cooperative collision avoidance among multiple mobile robot systems without supervisor or communication. The problem of the method was the enormous computation caused by the high dimensional search, and two improved CCA method are introduced in this paper. The first method transforms the search structure from a massive monolithic search into two separate light searches and this leads to significant reduction of the computation from O(a4) to O(a2), where a is the resolution of the search. The second method solves the search analytically by applying an assumption that every robot has a direction oriented objective. The effectiveness of the two methods are confirmed by the computer simulations.