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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Safe Maritime Navigation with COLREGS Using Velocity Obstacles

This paper presents a motion planning algorithm for Unmanned Surface Vehicles (USVs) to navigate safely in dynamic, cluttered environments. The proposed algorithm not only addresses Hazard Avoidance (HA) for stationary and moving hazards but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGs). The COLREG rules specify, for example, which vessel is responsible for giving way to the other and to which side of the "stand-on" vessel to maneuver. The three primary COLREG rules were considered in this paper: crossing, overtaking, and head-on situations. For USVs to be safely deployed in environments with other traffic boats, it is imperative that the USV's navigation algorithm obey COLREGs. Note also that if other boats disregard their responsibility under COLREGs, the USV will still apply its HA algorithms to avoid a collision. The proposed approach is based on Velocity Obstacles, which generates a cone-shaped obstacle in the velocity space. Because Velocity Obstacles also specify which side of the obstacle the vehicle will pass during the avoidance maneuver, COLREGs are encoded in the velocity space in a natural way. The algorithm is demonstrated via both simulation and on-water tests.

velocity obstacles↗
NASA NTRS1995

Robot Motion Planning Among Moving Obstacles

An on-line method is presented for computing the motion of a robot in a dynamic environment subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle that defines the set of robot velocities that would result in a collision between the robot and a moving obstacle. The problem of motion planning in dynamic environments is addressed.

Robotics Velocity Obstacle↗
NASA NTRS2014

Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

Kuwata, Yoshiaki↗
NASA NTRS1996

Time Optimal Trajectory Planning in Dynamic Environments

A method is presented for planning the motion of a robot in a dynamic environment by computing a trajectory that avoids all obstacles and that satisfies the robot dynamics and its actuator constraints. This method consists of two steps -- the computation of the trajectory and its refinement with a dynamic optimization.

Robotics Velocity Obstacle↗
NASA NTRS1993

Large-eddy simulation of turbulent flow with a surface-mounted two-dimensional obstacle

In this paper, we perform a large eddy simulation (LES) of turbulent flow in a channel containing a two-dimensional obstacle on one wall using a dynamic subgrid-scale model (DSGSM) at Re = 3210, based on bulk velocity above the obstacle and obstacle height; the wall layers are fully resolved. The low Re enables us to perform a DNS (Case 1) against which to validate the LES results. The LES with the DSGSM is designated Case 2. In addition, an LES with the conventional fixed model constant (Case 3) is conducted to allow identification of improvements due to the DSGSM. We also include LES at Re = 82,000 (Case 4) using conventional Smagorinsky subgrid-scale model and a wall-layer model. The results will be compared with the experiment of Dimaczek et al.

Yang, Kyung-Soo↗
NASA NTRS1993

Large-eddy simulation of turbulent flow in a channel with a surface-mounted two-dimensional obstacle using a dynamic subgrid-scale model

We apply the dynamic subgrid-scale model (DSGSM) to large-eddy simulation (LES) of turbulent channel flow with a square rib mounted on one wall. The Reynolds number (Re) is 3210 based on the mean velocity above the obstacle and the obstacle height. Near-wall structures are resolved with the no-slip boundary condition. The results show better agreement with direct numerical simulation (DNS) than LES with a fixed model constant, verifying the value of the DSGSM for simulating complex turbulent flows.

Yang, Kyung-Soo↗
NASA NTRS1990

Velocity filtering applied to optical flow calculations

Optical flow is a method by which a stream of two-dimensional images obtained from a forward-looking passive sensor is used to map the three-dimensional volume in front of a moving vehicle. Passive ranging via optical flow is applied here to the helicopter obstacle-avoidance problem. Velocity filtering is used as a field-based method to determine range to all pixels in the initial image. The theoretical understanding and performance analysis of velocity filtering as applied to optical flow is expanded and experimental results are presented.

Barniv, Yair↗
NASA NTRS1978

Building wakes in disturbed layers

The wind profiles in the wakes of buildings in a disturbed shear layer are investigated for conditions experienced during aircraft take-off and landing. Experiments were conducted in a pipe flow apparatus in which an equilibrium flow is disturbed by pipe roughness, simulating obstacles upwind of a building, with the disturbed flow made to flow past a second obstacle, simulating a building. Velocity and turbulence profiles of disturbed and equilibrium flows upstream and downstream of the obstacles are presented. It is concluded that the integrated momentum flow of a boundary layer behind an obstacle can be greater than the upstream momentum flow, if the exponent of the upstream velocity profile is sufficiently high and the boundary layer has been disturbed by upstream obstacles. The rise of the turbulence level behind the obstacle is also dependent on the profile exponent in a disturbed layer.

Logan, E.↗
NASA NTRS1973

Kinetic theory analysis of solar wind interaction with planetary objects

A purely kinetic treatment is proposed for the interaction of the solar wind with any small planetary object. Small refers to those cases where the solar wind proton's thermal gyroradius is arbitrarily taken to be greater than 0.1 radius of the object under investigation. The 'object' may possibly include an ionosphere or magnetosphere. The collisionless Boltzmann equation, neglecting the magnetic field, is used to calculate steady-state profiles of density and velocity around the obstacle. A low density plasma void in the umbral region and a compression in the penumbral region are clearly found. The present technique, despite its neglect of the interplanetary magnetic field, is proposed as an alternative zeroth order approach to the continuum, local magnetic anomaly, and guiding center approaches used by others for the particular case of moon. Some recent, potentially relevant, observations on and in front of the moon are discussed.

Wu, S. T.↗
NASA NTRS1990

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

Carignan, Craig R.↗
NASA NTRS1993

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗
NASA NTRS1938

Compressible flow about symmetrical Joukowski profiles

The method of Poggi is employed for the determination of the effects of compressibility upon the flow past an obstacle. A general expression for the velocity increment due to compressibility is obtained. The general result holds whatever the shape of the obstacle; but, in order to obtain the complete solution, it is necessary to know a certain Fourier expansion of the square of the velocity of flow past the obstacle. An application is made to the case flow of a symmetrical Joukowski profile with a sharp trailing edge, fixed in a stream of an arbitrary angle of attack and with the circulation determined by the Kutta condition. The results are obtained in a closed form and are exact insofar as the second approximation to the compressible flow is concerned, the first approximation being the result for the corresponding incompressible flow. Formulas for lift and moment analogous to the Blasius formulas in incompressible flow are developed and are applied to thin symmetrical Joukowski profiles for small angles of attack.

Kaplan, Carl↗
NASA NTRS1973

Finite element analysis of unsteady incompressible flow around an oscillating obstacle of arbitrary shape.

An analytical procedure based on Navier-Stokes equations was developed for representing unsteady flow patterns around oscillating obstacles. A variational formulation of the Helmholtz vorticity equation was discretized in finite element form and integrated numerically. At each step of the numerical integration the velocity field around the obstacle was determined from the finite element solution of Poisson's equation. The time-dependent boundary conditions around the oscillating obstacle were introduced as external constraints at each time step of the numerical integration. The obtained results for a cylinder and an airfoil were illustrated in the form of streamlines and vorticity and pressure distributions.

Bratanow, T.↗