Collision avoidance strategies for special-purpose Unmanned Ground Vehicles in dynamic environments with human presence

• Autorzy: Nowakowski Marek

Identyfikatory

DOI

10.37105/iboa.250

• Języki publikacji: EN

Abstrakty

EN

The evaluation of collision avoidance strategies for special - purpose unmanned ground vehicles (UGVs) operating in dynamic environments with human presence is presented in this study. The autonomous wheeled vehicle equipped with an armament module for combat and reconnaissance tasks is described considering mission specifications and off-road usage scenarios. The main operational parameters are outlined, and the obstacle detection features integrated into the PERUN vehicle are introduced. The control system architecture is presented, along with installed sensors and their perception capabilities of surround ing object detection. Safety considerations in operational conditions where human presence force appropriate collision avoidance actions are discussed. Real field tests conducted in diverse weather and environmental conditions, such as industrial area and unstructured terrains, are shown to demonstrate the system's performance. Carried out tests show that the collision avoidance system enables obstacle detection and proving the effectiveness of steering strategies for the platform's navigation. The safe operation of unmanned systems in environments with human presence is crucial for the successful deployment and scalability of UGV technologies.

Słowa kluczowe

EN

Unmanned Ground Vehicle; UGV; human; collision avoidance; operation safety

PL

UGV; unikanie kolizji; bezpieczeństwo operacyjne; człowiek; bezzałogowy pojazd naziemny

• Wydawca: Centrum Rzeczoznawstwa Budowlanego Sp. z o.o.
• Czasopismo: Inżynieria Bezpieczeństwa Obiektów Antropogenicznych
• Rocznik: 2025
• Tom: Nr 1
• Strony: 31--40
• Opis fizyczny: Bibliogr. 18 poz., rys., tab., wykr.

Twórcy

autor

Nowakowski Marek

• Military Institute of Armored and Automotive Technology, Okuniewska 1, 05-070 Sulejówek, Poland

Bibliografia

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• 13. MISIR, Oğuz, and Muhammed Celik. "Visual-Based Obstacle Avoidance Method Using Advanced CNN for Mobile Robots." Internet of Things (2025): 101538.
• 14. Chodnicki, M.; Nowakowski, M.; Pietruszewski, P.; Wesołowski, M.; Stępień, S. BIZON–UGV for Airport Pavement Testing: Mechanics and Control. Appl. Sci. 2024, 14, 2472. https://doi.org/10.3390/app14062472
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• 1. Ben-Asher, Joseph Z., and Elon D. Rimon. "Time optimal trajectories for a car-like mobile robot." IEEE Transactions on Robotics 38.1 (2021): 421-432.

Uwagi

1. The study was related to the project DOB-2P/02/03/2018 financed by the National Centre for Research and Development under the scientific research programme for national defence and security entitled "Future technologies for defence - competition for young scientists 2/P/2017".

2. Błędna numeracja bibliografii.

3. Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).