A collision avoidance system and method for human commanded systems
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A technology of artificial and motion commands, applied in traffic control systems, buildings, instruments, etc., can solve the problem of non-convex obstacle set detail level strategy mismatch
Active Publication Date: 2013-09-25
EZYMINE
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This property of set-theoretic methods does not match the level-
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[0071] A preferred embodiment of the invention will now be described by way of example and with reference to the accompanying drawings.
[0072] The preferred embodiment uses an Optimal Avoidance Filter unit (or OAF), and it is synthesized using a Rolling Time Domain Control (RHC) framework in which control actions are determined by predicting the system for a given time bound For future evolution, optimize the time-bound control sequence to obtain the most desired future system evolution, and apply the first control action in the optimized control sequence (Rossiter2003, Maciejowski2002). RHC has two advantageous properties when used to avoid filtering problems. First, the predictive nature of rolling time-domain control allows constraints associated with the slave manipulator, such as driver torque and velocity constraints, to be explicitly considered when determining control actions. Second, future avoidance of obstacles can be guaranteed, even when the operator's future i...
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Abstract
A method of implementing an optimal avoidance filter for interposing between a human operator issued movement commands and a corresponding machine control system of a movable machine, for the avoidance of collisions with objects, the method comprising: (a) inputting a detailed representation of objects in the vicinity of the movable machine; (b) formulating a hierarchical set of bounding boxes around the objects, the hierarchical set including refinement details depending on the current positional state of the movable machine, with objects closer to the machine having higher levels of refinement details; (c) utilizing the resultant hierarchical set as a set of constraints for a mixed integer optimization problem to determine any alterations to the issued movement commands so as to avoid collisions with any objects.
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technical field [0001] The present invention relates to collision avoidance systems and methods. In particular, the present invention discloses a system and method for a collision avoidance frame work of a manual command system such as a mining excavator. [0002] references [0003] Barraquand, J., Langlois, B. and Latombe, J. (1992), `Numerical potential-field techniques for robot path planning', IEEE Transactions On Systems Man And Cybernetics 22(2), 224-241. [0004] Bellingham, J., Richards, A. and How, J. (2002), Receding horizon control of autonomous vehicles, `Proc. of the American Control Conf'. [0005] Bemporad, A. and Morari, M. (1999), `Control of systems integrating logic, dynamics, and constraints', Automatica 35(3), 407-427. [0006] Blancchini, F. (1999), `Set invariance in control [survey paper]', Automatica 35, 1747-1767. [0007] Blancchini, F. and Miani, S. (2008), Set-Theoretic Methods in Control, Systems & Control: Foundations & Applications, Birkhaus...
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