Abstract
This work presents a new method of real-time approximate volumetric collision risk assessment relating to the joint motion of a large group of unmanned vehicles in confined areas. The authors propose the novel concept of multi-level dynamic soft safety domains and spherical dynamic soft topology that allows defining non-spherical safety domains by measuring various radiuses within sectors located in different longitude and latitude. The nonlinearity of the proposed spherical topology allows us to use a novel volumetric approach to collision risk assessments. If the safety domains of various objects overlap at some point within joint motion space, their safety grades should be summed up with respect to the volumes of the cells. The proposed method builds the distribution of the collision risk over the space to prioritize risks properly. The proposed method is quite simple and fast, it allows unmanned vehicles to effectively assess the collision risks imposed by participants of the joint motion process in situations of very dense traffic of numerous vehicles. It provides the acceptable performance of collision risk assessment. The proposed collision risk assessment method is intended to be used in the real-time navigation support systems for large groups of unmanned vehicles to keep safety during cooperative trajectory planning and re-planning.
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Sherstjuk, V., Zharikova, M., Sokol, I., Dorovskaja, I., Levkivskiy, R., Gusev, V. (2021). The Method of Collision Risk Assessment Using Soft Safety Domains of Unmanned Vehicles. In: Hu, Z., Petoukhov, S., Dychka, I., He, M. (eds) Advances in Computer Science for Engineering and Education IV. ICCSEEA 2021. Lecture Notes on Data Engineering and Communications Technologies, vol 83. Springer, Cham. https://doi.org/10.1007/978-3-030-80472-5_9
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