Development of collision avoidance system for multiple autonomous mobile robots
Agricultural robots; Collision avoidance; Computer software; Data communication equipment; Highway accidents; Robots; Safety devices; Vehicle to vehicle communications; Autonomous Mobile Robot; Collision avoidance systems; Collision scenarios; Comprehensive comparisons; Crossing intersections; Exper...
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SAGE Publications Inc.
2023
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my.uniten.dspace-253952023-05-29T16:08:55Z Development of collision avoidance system for multiple autonomous mobile robots Hou Y.C. Mohamed Sahari K.S. Weng L.Y. Foo H.K. Abd Rahman N.A. Atikah N.A. Homod R.Z. 37067465000 57218170038 26326032700 57218559153 56342466200 57188930241 36994633500 Agricultural robots; Collision avoidance; Computer software; Data communication equipment; Highway accidents; Robots; Safety devices; Vehicle to vehicle communications; Autonomous Mobile Robot; Collision avoidance systems; Collision scenarios; Comprehensive comparisons; Crossing intersections; Experimental testing; Inter-robot communication; Rear-end collisions; Autonomous vehicles This article presents a collision avoidance system for multiple robots based on the current autonomous car collision avoidance system. The purpose of the system is to improve the current autonomous car collision avoidance system by including data input of other vehicles� velocity and positioning via vehicle-to-vehicle communication into the current autonomous car collision avoidance system. There are two TurtleBots used in experimental testing. TurtleBot is used as the robot agent while Google Lightweight Communication and Marshalling is used for inter-robot communication. Additionally, Gazebo software is used to run the simulation. There are two types of collision avoidance system algorithm (collision avoidance system without inter-robot communication and collision avoidance system with inter-robot communication) that are developed and tested in two main road crash scenarios, rear end collision scenario and junction crossing intersection collision scenario. Both algorithms are tested and run both in simulation and experiment setup, each with 10 repetitions for Lead TurtleBot sudden stop, Lead TurtleBot decelerate, Lead TurtleBot slower speed, and straight crossing path conditions. Simulation and experimental results data for each algorithm are recorded and tabulated. A comprehensive comparison of performance between the proposed algorithms is analyzed. The results showed that the proposed system is able to prevent collision between vehicles with an acceptable success rate. � The Author(s) 2020. Final 2023-05-29T08:08:54Z 2023-05-29T08:08:54Z 2020 Article 10.1177/1729881420923967 2-s2.0-85089473036 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85089473036&doi=10.1177%2f1729881420923967&partnerID=40&md5=1f311adf07f632d3455f17cdec9174e3 https://irepository.uniten.edu.my/handle/123456789/25395 17 4 All Open Access, Gold SAGE Publications Inc. Scopus |
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| description |
Agricultural robots; Collision avoidance; Computer software; Data communication equipment; Highway accidents; Robots; Safety devices; Vehicle to vehicle communications; Autonomous Mobile Robot; Collision avoidance systems; Collision scenarios; Comprehensive comparisons; Crossing intersections; Experimental testing; Inter-robot communication; Rear-end collisions; Autonomous vehicles |
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37067465000 |
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37067465000 Hou Y.C. Mohamed Sahari K.S. Weng L.Y. Foo H.K. Abd Rahman N.A. Atikah N.A. Homod R.Z. |
| format |
Article |
| author |
Hou Y.C. Mohamed Sahari K.S. Weng L.Y. Foo H.K. Abd Rahman N.A. Atikah N.A. Homod R.Z. |
| spellingShingle |
Hou Y.C. Mohamed Sahari K.S. Weng L.Y. Foo H.K. Abd Rahman N.A. Atikah N.A. Homod R.Z. Development of collision avoidance system for multiple autonomous mobile robots |
| author_sort |
Hou Y.C. |
| title |
Development of collision avoidance system for multiple autonomous mobile robots |
| title_short |
Development of collision avoidance system for multiple autonomous mobile robots |
| title_full |
Development of collision avoidance system for multiple autonomous mobile robots |
| title_fullStr |
Development of collision avoidance system for multiple autonomous mobile robots |
| title_full_unstemmed |
Development of collision avoidance system for multiple autonomous mobile robots |
| title_sort |
development of collision avoidance system for multiple autonomous mobile robots |
| publisher |
SAGE Publications Inc. |
| publishDate |
2023 |
| _version_ |
1806428231245496320 |
| score |
13.214268 |