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Types Of Collisions - I

Types Of Collisions - I

When two objects come in direct contact with each other, it is called a collision. During a collision, two or more objects exert forces on each other in a relatively short amount of time. A collision can be categorized as either an elastic or inelastic collision. If two or more objects approach each other, collide and then bounce off, moving away from each other with the same relative speed at which they approached each other, the total kinetic energy of the system is said to be conserved. This...

Types of Collisions - II

Types of Collisions - II

When two or more objects collide with each other, they can stick together to form one single composite object (after collision). The total mass of the object after the collision is the sum of the masses of the original objects, and it moves with a velocity dictated by the conservation of momentum. Although the system's total momentum remains constant, the kinetic energy decreases, and thus such a collision is an inelastic collision. Most of the collisions between objects in daily life are...

Elastic Collisions: Introduction

Elastic Collisions: Introduction

An elastic collision is one that conserves both internal kinetic energy and momentum. Internal kinetic energy is the sum of the kinetic energies of the objects in a system. Truly elastic collisions can only be achieved with subatomic particles, such as electrons striking nuclei. Macroscopic collisions can be very nearly, but not quite, elastic, as some kinetic energy is always converted into other forms of energy such as heat transfer due to friction and sound. An example of a nearly...

Elastic Collisions: Case Study

Elastic Collisions: Case Study

Elastic collision of a system demands conservation of both momentum and kinetic energy. To solve problems involving one-dimensional elastic collisions between two objects, the equations for conservation of momentum and conservation of internal kinetic energy can be used. For the two objects, the sum of momentum before the collision equals the total momentum after the collision. An elastic collision conserves internal kinetic energy, and so the sum of kinetic energies before the collision equals...

Collisions in Multiple Dimensions: Introduction

Collisions in Multiple Dimensions: Introduction

It is far more common for collisions to occur in two dimensions; that is, the initial velocity vectors are neither parallel nor antiparallel to each other. Let's see what complications arise from this. The first idea is that momentum is a vector. Like all vectors, it can be expressed as a sum of perpendicular components (usually, though not always, an x-component and a y-component, and a z-component if necessary). Thus, when the statement of conservation of momentum is written for a problem,...

Collisions in Multiple Dimensions: Problem Solving

Collisions in Multiple Dimensions: Problem Solving

In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...

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MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions

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Time-Interval-Based Collision Detection for 4WIS Mobile Robots in Human-Shared Indoor Environments.

Seungmin Kim¹, Hyunseo Jang¹, Jiseung Ha¹

¹Department of Autonomous Mobility, Korea University, Sejong 2511, Republic of Korea.

Sensors (Basel, Switzerland)

|February 13, 2025

Summary

This study introduces a new collision detection method for indoor delivery robots. Our approach enhances safety and efficiency in human-shared spaces by improving robot navigation and human interaction.

Keywords:

4WIS mobile robot Kalman filter LiDAR human collision detection kinematic modeling parallel mode

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Area of Science:

Robotics
Artificial Intelligence
Autonomous Systems

Background:

E-commerce growth necessitates advanced indoor delivery solutions.
Last-mile delivery in human-shared indoor environments presents significant navigation challenges.
Existing path-following algorithms can lead to unpredictable robot movements.

Purpose of the Study:

To develop a time-interval-based collision detection method for Four-Wheel Independent Steering (4WIS) mobile robots.
To improve natural human-robot interactions in indoor delivery scenarios.
To enhance the safety and efficiency of autonomous indoor navigation.

Main Methods:

Integrating kinematic-based robot trajectory calculation with LiDAR-based human detection.
Utilizing a Kalman filter for human movement prediction.
Implementing a parallel driving mode for 4WIS robots.

Main Results:

The parallel driving mode demonstrated superior human detection compared to conventional Ackermann steering.
Enhanced performance was observed during cornering and high-speed operations.
The method proved effective in realistic indoor experimental scenarios.

Conclusions:

The proposed collision detection method significantly improves human detection and robot navigation in indoor environments.
This approach offers a safer and more efficient solution for autonomous indoor delivery systems.
The study validates the potential of advanced collision avoidance for future e-commerce logistics.