Paper Info
Title
Efficient Time-To-Collision Estimation for a Braking Supervision System with LIDAR
Abstract
A system for efficiently calculating the risk of the mobile system colliding with a static obstacle, estimating the resulting time to collision and augmenting the user-commanded velocity commands is presented in this paper. The innovation of the approach is in merger of the laser range finder sensor measurements with the motion model of the mobile system and predicting the virtual path of the obstacles in the local coordinate system of the sensor. The resulting trajectories are then geometrically evaluated and intersections with the line-based mobile system outline are detected - approach avoids discretization of either temporal or spatial prediction horizons and produces the time-to-collision estimates with an analytical method. This not only improves the accuracy of the results, but also reduces the computational and storage loads of the processing system. The paper also presents a collision prevention system for a mobile system that is controlled by the human operator, allowing safe operation either for remote operation or use by the untrained/unreliable operator. The system was implemented on a rehabilitation mobile platform and preliminary results are provided and evaluated. In summary, the results show that the method is promising and easily applicable to target mobile systems.
Year
DOI
Venue
2017
10.1109/CYBConf.2017.7985775
2017 3rd IEEE International Conference on Cybernetics (CYBCONF)
Keywords
Field
DocType
rehabilitation mobile platform,remote operation,safe operation,collision prevention system,storage loads,computational loads,analytical method,spatial prediction horizons,temporal prediction horizons,line-based mobile system outline,virtual path obstacle prediction,laser range finder sensor,user-commanded velocity command augmentation,static obstacle,mobile system collision,LIDAR,braking supervision system,time-to-collision estimation
Coordinate system,Remote operation,Obstacle,Discretization,Simulation,Collision prevention,Lidar,Time to collision,Operator (computer programming),Engineering
Conference
ISSN
ISBN
Citations 
2475-6113
978-1-5386-2202-5
0
PageRank 
References 
Authors
0.34
2
2
Name
Order
Citations
PageRank
Matevz Bosnak100.34
Igor Skrjanc235452.47