紀要論文

視覚情報のみを用いた衝突回避システムの提案と複数移動 体への応用

jpn

21879923

https://doi.org/10.15002/00014199

法政大学大学院理工学・工学研究科

58

1

5

2017-03-31

Version of Record

ヘッダー部分に誤記 ; (誤) 法政大学大学院理工学・工学研究科紀要 (正) 法政大学大学院紀要. 理工学・工学研究科編

In recently year, Autonomous control of vehicles has attracted considerable attention. Especially, the collision avoidance system of vehicle has become an important topic in this field of research around the world. But, in conventional studies, the controlled vehicle must calculate the movement of other surrounding vehicles in order to avoid the collision, requiring huge computational costs. In this paper, I notice animal behavior in order to applicate the collision avoidance to multiple objects. They reduce omputational costs of their brain by utilize the properties of their environment, basing their intelligent behaviors on simple strategies. I focus on these strategies, such as the tau-margin and binocular parallax. In this paper, I propose the collision avoidance system using only visual information and present simulation results that were conducted in order to demonstrate the effectiveness of this method. It is important to note that proposed collision avoidance system are realized using only visual information without high accuracy sencor and high spec computer. Key Words : tau-margin, collision avoidance, visual information, binocular parallax

Article

AA12677220