Using Elastic Bands for Collision Avoidance in Collaborative Robotics

Path Planning for Automotive Collision Avoidance Based on Elastic Bands

Collision-free path planning will be an essential feature of future automotive collision avoidance systems (CAS). One of the most promising approaches uses so-called elastic bands in generating emergency trajectories. For the automotive application of this approach, moving obstacles and the borders of the road are modeled by virtual potential fields. To find solutions even in complex driving si...

Planning of Optimal Collision Avoidance Trajectories with Timed Elastic Bands

This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the col...

Development of a Collision Avoidance Algorithm Using Elastic Band Theory

This paper presents a new Collision Avoidance (CA) Algorithm which uses Elastic Band Theory. Researchers tried to develop warning systems to avoid collisions which warn drivers of possible collision risk with audio and or visual signs. However, these systems are not sufficient for avoidance of a collision in situations where the driver gives no response to the warnings. CA System is a kind of A...

Using Heterogeneous Networks for Intersection Collision Avoidance

Trajectory Modification Using Elastic Force for Collision Avoidance of a Mobile Manipulator

This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned trajectory, and the trajectory modifica...