ARTICLE | doi:10.20944/preprints202311.1922.v1
Subject: Computer Science And Mathematics, Artificial Intelligence And Machine Learning Keywords: highly automated vehicles; robotics; modeling; obstacle avoidance
Online: 30 November 2023 (10:35:44 CET)
When implementing a control system for a ground-based unmanned vehicle (UV) used in agri-culture, an important factor is the low cost of the equipment used, so the use of cameras without lidars for navigation, avoiding obstacles, and ensuring movement safety seems promising. En-suring the safety of movement of UV consists of developing methods and means that make it possible to bypass static and dynamic obstacles and make an emergency stop if it is impossible to bypass. The article describes methods and software that provide detection of objects surrounding the UV through the use of the YOLOv8 neural network, space free for movement through the use of se-mantic segmentation with the MobileNetV3 network architecture, tools for combining several data sources to build a local perception map, as well as linear and angular speed of the UV based on calculating the optimal direction of movement for avoiding obstacles. Testing of the developed methods and software was realized in the Webots simulation environment. Software is developed with ROS2.
ARTICLE | doi:10.20944/preprints202011.0711.v1
Subject: Engineering, Automotive Engineering Keywords: service robot; navigation; people detection; obstacle avoidance
Online: 30 November 2020 (09:11:57 CET)
This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.
ARTICLE | doi:10.20944/preprints202311.0917.v1
Subject: Engineering, Control And Systems Engineering Keywords: Obstacle Avoidance; Kinematic Control; Redundant Manipulators; Manipulator Differentiable Manifold
Online: 14 November 2023 (15:16:49 CET)
Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies. A recently developed inverse kinematic position mapping is extended to an operational configuration space differentiable manifold formulation for kinematic control with obstacle avoidance is employed to resolve deficiencies in the generalized inverse velocity formulation. Output trajectory tracking with obstacle avoidance for four and twenty degree of redundancy manipulators is carried out to demonstrate the effectiveness of the differentiable manifold approach and that it resolves deficiencies of the conventional generalized inverse velocity formulation.
ARTICLE | doi:10.20944/preprints202202.0060.v1
Subject: Engineering, Energy And Fuel Technology Keywords: Railway crossing; obstacle detection; renewable energy; hybrid system; sustainable development.
Online: 3 February 2022 (15:36:46 CET)
Bangladesh's railway system mostly uses typical manual railway crossing technique or boom gates through its 2,955.53 km rail route all over the country. The accidents are frequently happening in the railway crossings due to not having obstacle detectable and quickly operating gate systems, and also for fewer safety measures in the railway crossing. Currently, there are very few automatic railway crossing systems (without obstacle detectors) available, however, all of them are dependent on the national power grid without a backup plan for any emergency cases. Bangladesh is still running a bit behind in the power generation of its consumption, hence it is not possible to have a continuous power supply at all times all over the countryside. We aim to design and develop a smart railway crossing system with an obstacle detector to prevent common types of accidents in the railway crossing points. We design to use two infrared (IR) sensors to operate the railway crossing systems which will be controlled by the Arduino Uno. This newly designed level crossing system will be run with the help of sustainable renewable energy which is cost-effective, eco-friendly, and apply under the national green energy policy towards achieving sustainable development in Bangladesh as a part of the global sustainable goal to face climate change challenges. We have summarized the simulated results of several renewable energy sources including a hybrid system and optimized the Levelized Cost of Energy (LCOE), and the payback periods.
ARTICLE | doi:10.20944/preprints202105.0764.v1
Subject: Computer Science And Mathematics, Robotics Keywords: Artificial intelligence; Motion Control; Reactive Obstacle-Avoidance; Wheeled Mobile Robots
Online: 31 May 2021 (12:13:07 CEST)
Obstacle-avoidance robots have become an essential field of study in recent years. This paper analyzes two cases that extend reactive systems focused on obstacle detection and its avoidance. The scenarios explored get data from their environments through sensors and generate information for the models based on artificial intelligence to obtain a reactive decision. The main contribution is focused on the discussion of aspects that allow comparing both approaches, such as the heuristic approach implemented, requirements, restrictions, response time, and performance. The first case presents a mobile robot that applies fuzzy logic to achieve soft turning basing its decision on depth image information. The second case introduces a mobile robot based on multi-layer perceptron and ultrasonic sensors to decide how to move in an uncontrolled environment. The analysis of both options offers perspectives to choose between reactive obstacle-avoidance systems based on ultrasonic or Kinect sensors, models that infer optimal decisions applying fuzzy logic or artificial neural networks, with key elements and methods to design mobile robots with wheels. Therefore, we show how AI or Fuzzy Logic techniques allow us to design mobile robots that learn from their “ experience ” by making them safe and adjustable for new tasks, unlike traditional robots that use large programs to perform a specific task.
ARTICLE | doi:10.20944/preprints202010.0564.v1
Subject: Engineering, Automotive Engineering Keywords: robotics; autonomy obstacle avoidance; path optimization; genetic algorithm; random search
Online: 27 October 2020 (20:44:30 CET)
In the rescue operations the full time of action plays important role. It is a sum of planning, travel, and manipulation (in the action place) phases times. The time minimization of first two phases by autonomous vehicle for remote action is considered in the paper. For known a priori map the path planning consists of local optimal decision collected next in the general algorithm of the optimal path. Such approach significantly reduces time of path planning. The robot features and known sparse obstacles reduce the allowable robot speeds. The time of travel is calculated from allowable velocity profile. So, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are exploited and compared in the paper. All the proposed time optimisation solutions of rescue operation are checked during computer simulations and results of simulation are presented.
ARTICLE | doi:10.20944/preprints202208.0215.v1
Subject: Computer Science And Mathematics, Artificial Intelligence And Machine Learning Keywords: visually impaired; smart mobility; sensors; LiDAR; ultrasonic; deep learning; obstacle detection; obstacle recognition; assistive tools; edge computing; green computing; sustainability; Arduino Uno; Smart App
Online: 11 August 2022 (11:12:58 CEST)
Over a billion people around the world are disabled, among them, 253 million are visually impaired or blind, and this number is greatly increasing due to ageing, chronic diseases, poor environment, and health. Despite many proposals, the current devices and systems lack maturity and do not completely fulfill user requirements and satisfaction. Increased research activity in this field is required to encourage the development, commercialization, and widespread acceptance of low-cost and affordable assistive technologies for visual impairment and other disabilities. This paper proposes a novel approach using a LiDAR with a servo motor and an ultrasonic sensor to collect data and predict objects using deep learning for environment perception and navigation. We adopted this approach in a pair of smart glasses, called LidSonic V2.0, to enable the identification of obstacles for the visually impaired. The LidSonic system consists of an Arduino Uno edge computing device integrated into the smart glasses and a smartphone app that transmits data via Bluetooth. Arduino gathers data, operates the sensors on smart glasses, detects obstacles using simple data processing, and provides buzzer feedback to visually impaired users. The smartphone application collects data from Arduino, detects and classifies items in the spatial environment, and gives spoken feedback to the user on the detected objects. In comparison to image processing-based glasses, LidSonic uses far less processing time and energy to classify obstacles using simple LiDAR data, according to several integer measurements. We comprehensively describe the proposed system's hardware and software design, construct their prototype implementations, and test them in real-world environments. Using the open platforms, WEKA and TensorFlow, the entire LidSonic system is built with affordable off-the-shelf sensors and a microcontroller board costing less than $80. Essentially, we provide designs of an inexpensive, miniature, green device that can be built into, or mounted on, any pair of glasses or even a wheelchair to help the visually impaired. Our approach affords faster inference and decision-making using relatively low energy with smaller data sizes as well as faster communications for the edge, fog, and cloud computing.
ARTICLE | doi:10.20944/preprints202310.0386.v1
Subject: Engineering, Marine Engineering Keywords: Stream Function; Path Planning Algorithms; Obstacle Avoidance AUV; Fluid Dynamics in Path Planning
Online: 9 October 2023 (11:34:39 CEST)
Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.
REVIEW | doi:10.20944/preprints202102.0459.v1
Subject: Engineering, Automotive Engineering Keywords: autonomous vehicles; self-driving cars; perception; camera; lidar; radar; sensor fusion; calibration; obstacle detection
Online: 22 February 2021 (11:31:02 CET)
The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.
ARTICLE | doi:10.20944/preprints201708.0014.v1
Subject: Physical Sciences, Mathematical Physics Keywords: sensor-in-the-loop; co-simulation framework; virtual CPS; on-chip LiDAR; obstacle recognition library
Online: 4 August 2017 (14:13:13 CEST)
Collision avoidance is an important feature in advanced driver-assistance systems, aiming at providing correct, timely and reliable warnings before an imminent collision (objects, vehicles, pedestrians, etc.). A co-simulation framework is proposed in this paper to address the design and evaluation of collision avoidances in a cyber-physical system. The co-simulation framework is supported on the interaction between SCANeR and Matlab/Simulink. From the best of authors’ knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip LIDAR sensors in a cyber-physical system (CPS) considering traffic scenarios is presented. The CPS is designed and implemented in SCANeR. Secondly, an obstacle recognition library with three specific Artificial Intelligence-based methods is also designed based on sensory information database provided by SCANeR. Three methods for collision avoidance detection are considered, i.e.; a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods for detecting obstacles before different weather conditions is done with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and fog conditions, the support vector machine in rainy and self-organized map in snowy conditions.
ARTICLE | doi:10.20944/preprints201805.0164.v2
Subject: Engineering, Mechanical Engineering Keywords: speed planning; convex optimisation; autonomous driving; friction circle; driving safety; dynamic obstacle avoidance; ride comfort; mobility
Online: 16 May 2018 (11:08:49 CEST)
In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in various autonomous driving scenarios as the requirements for speed planner developments and metrics to measure the capacity of existing speed planners roughly for autonomous driving. Second, we introduce a more general, flexible and complete speed planning mathematical model including all the summarized constraints compared to the state-of-the-art speed planners, which addresses limitations of existing methods and is able to provide smooth, safety-guaranteed, dynamic-feasible, and time-efficient speed profiles. Third, we emphasize comfort while guaranteeing fundamental motion safety without sacrificing the mobility of cars by treating the comfort box constraint as a semi-hard constraint in optimization via slack variables and penalty functions, which distinguishes our method from existing ones. Fourth, we demonstrate that our problem preserves convexity with the added constraints, thus global optimality of solutions is guaranteed. Fifth, we showcase how our formulation can be used in various autonomous driving scenarios by providing several challenging case studies in both static and dynamic environments. A range of numerical experiments and challenging realistic speed planning case studies have depicted that the proposed method outperforms existing speed planners for autonomous driving in terms of constraint type covered, optimality, safety, mobility and flexibility.
ARTICLE | doi:10.20944/preprints202305.0998.v1
Subject: Engineering, Control And Systems Engineering Keywords: catamaran unmanned surface vessel; maneuvering modeling group (MMG); fuzzy adaptive PID control; obstacle detection; trajectory tracking experiment
Online: 15 May 2023 (07:50:22 CEST)
This work presents a new scheme for autonomous control and obstacle detection of a catamaran unmanned surface vessel. Based on the Newtonian mechanics, hydrodynamics, and maneuvering modelling group modelling principles in the attached coordinate system, a three-degree-of-freedom motion model of the catamaran unmanned surface vessel is constructed. The fuzzy inference method is used to overcome the drawback that the traditional PID control cannot tune the PID parameters online, and the trajectory controller is designed. Meanwhile, 3D LIDAR is used to achieve obstacle detection. The results of the trajectory tracking simulations and experiments verify the accuracy of the model design and the effectiveness of the autonomous control design.
ARTICLE | doi:10.20944/preprints201907.0138.v1
Subject: Engineering, Electrical And Electronic Engineering Keywords: 3D printing; additive manufacturing; assistive devices; blind; obstacle avoidance; sensors; sensory substitution; ultrasonic sensing; ultrasound sensing; visually impaired
Online: 10 July 2019 (06:24:05 CEST)
Nineteen million Americans have significant vision loss. Over 70% of these are not employed full-time, and more than a quarter live below the poverty line. Globally, there are 36 million blind people, but less than half use white canes or more costly commercial sensory substitutions. The quality of life for visually impaired people is hampered by the resultant lack of independence. To help alleviate these challenges this study reports on the development of a low-cost (<$24), open-source navigational support system to allow people with the lost vision to navigate, orient themselves in their surroundings and avoid obstacles when moving. The system can be largely made with digitally distributed manufacturing using low-cost 3-D printing/milling. It conveys point-distance information by utilizing the natural active sensing approach and modulates measurements into haptic feedback with various vibration patterns within the distance range of 3 m. The developed system allows people with lost vision to solve the primary tasks of navigation, orientation, and obstacle detection (>20 cm stationary, moving up to 0.5 m/s) to ensure their safety and mobility. Sighted blindfolded participants successfully demonstrated the device for eight primary everyday navigation and guidance tasks including indoor and outdoor navigation and avoiding collisions with other pedestrians.
ARTICLE | doi:10.20944/preprints202310.1243.v1
Subject: Environmental And Earth Sciences, Environmental Science Keywords: agricultural green development; ecological conservation developing area; spatial and temporal heterogeneity; energy consumption; resources utilization efficiency; Obstacle degree calculating model
Online: 20 October 2023 (08:36:43 CEST)
As an irreplaceable ecological barrier, the ecological conservation developing area (ECDA) is vital for the integrated construction of urban and rural areas, and optimization and adjustment of industrial structure. Developing green agriculture is the foundation and guarantee for improving the rural ecological environment and meeting the increasing needs of farmers′ income. Issued by the Chinese government, No. 1 Central Document stated the necessity of promoting agricultural green development (AGD) and the related technologies in dealing with ecological pressure and resource shortages, especially for large cities like Beijing. However, few empirical studies have conducted on spatiotemporal variations of AGD in ECDA of large cities. Based on the green agricultural traits of Beijing and the accessible data, we evaluate AGD and analyze its spatial and temporal heterogeneity of Beijing ECDA by constructiing a framework with 13 indicators. The weight coefficients of AGD indicators were calculated by the projection pursuit method, with the district panel data from 2006 to 2016. The results demonstrated that energy consumption is a vital factor of green agriculture production, and agricultural output value per unit of the arable land area is the key to the green agricultural revenue. From 2006 to 2016, the AGD index of ECDA had an increasing trend till 2012, followed by a decreasing tendency. The AGD index of the northern region is higher than the southern of ECDA. The obstacle degree model was used to verify AGD limiting factors. They were poor infrastructure, slow agritourism, low labor productivity, and low resource utilization efficiency that varied by districts in ECDA. Given these findings, our study is conducive to the AGD evaluation at the district (county) level for ECDA of large cities and also provides important policy implications.
ARTICLE | doi:10.20944/preprints201907.0311.v1
Subject: Engineering, Automotive Engineering Keywords: Cyber-Physical Systems; reliability assessment; Internet-of-Things; LiDAR sensor; driving assistance; obstacle recognition; reinforcement learning; Artificial Intelligence-based modelling
Online: 28 July 2019 (12:38:28 CEST)
Currently, the most important challenge in any assessment of state-of-the-art sensor technology and its reliability is to achieve road traffic safety targets. The research reported in this paper is focused on the design of a procedure for evaluating the reliability of Internet-of-Things (IoT) sensors and the use of a Cyber-Physical System (CPS) for the implementation of that evaluation procedure to gauge reliability. An important requirement for the generation of real critical situations under safety conditions is the capability of managing a co-simulation environment, in which both real and virtual data sensory information can be processed. An IoT case study that consists of a LiDAR-based collaborative map is then proposed, in which both real and virtual computing nodes with their corresponding sensors exchange information. Specifically, the sensor chosen for this study is a Ibeo Lux 4-layer LiDAR sensor with IoT added capabilities. Implementation is through an artificial-intelligence-based modeling library for sensor data-prediction error, at a local level, and a self-learning-based decision-making model supported on a Q-learning method, at a global level. Its aim is to determine the best model behavior and to trigger the updating procedure, if required. Finally, an experimental evaluation of this framework is also performed using simulated and real data
ARTICLE | doi:10.20944/preprints201705.0056.v1
Subject: Engineering, Electrical And Electronic Engineering Keywords: Clock Tree Synthesis (CTS); Clock Network Design (CND); Integrated-Circuits (ICs); 3D ICs; Through-Silicon-Via (TSV); obstacles; mmm-algorithm; exact-zero skew algorithm; obstacle aware algorithm; power; wire-length; skew; slew; delay
Online: 8 May 2017 (09:36:47 CEST)
Clock Network Design (CDN) is a critical step while designing any Integrated-Circuits (ICs). It holds vital importance in the performance of entire circuit. Due to continuous scaling, 3D ICs stacked with TSV are gaining importance, with an objective to continue with the Moore's law. Through-Silicon-Via (TSV) provides the vertical interconnection between two die, which allows the electrical signal to flow through it. 3D ICs has many advantages over conventional 2D planar ICs like reduced power, area, cost, wire-length etc. The proposed work is mainly focused on power reduction and obstacle avoidance for 3D ICs. Various techniques have already been introduced for minimizing clock power within specified clock constraints of the 3D CND network. Proposed 3D Clock Tree Synthesis (CTS) is a combination of various algorithms with an objective to meet reduction in power as well as avoidance of obstacle or blockages while routing the clock signal from one sink to other sink. These blockages like RAM, ROM, PLL etc. are fixed during the placement process. The work is carried out mainly in three steps- first is Generation of 3D Clock tree avoiding the blockages, then Buffering and Embedding and finally validating the results by SPICE simulation. The experimental result shows that our CTS approach results in significant 9% reduction in power as compare to the existing work.