{"id":2257,"date":"2025-05-13T19:11:56","date_gmt":"2025-05-13T18:11:56","guid":{"rendered":"http:\/\/newskbncran.ru\/?page_id=2257"},"modified":"2026-03-27T10:33:57","modified_gmt":"2026-03-27T10:33:57","slug":"26-6-6-en","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","title":{"rendered":"26.6.6 en"},"content":{"rendered":"\n

Modeling algorithm to avoid collisions in robotic collaborative systems<\/strong><\/h1>\n\n\n\n

M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov<\/strong><\/strong><\/strong><\/strong><\/p>\n\n\n\n

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Upload the full text<\/strong><\/p>\n\n\n\n

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Abstract.<\/em><\/strong> <\/strong>In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to injury to a person. The aim of the work is to develop and test an algorithm to avoid collision for robots in a dynamic environment. The simulation was carried out in the Webots simulator using the virtual force method. The algorithm has shown high efficiency and reliability, maintaining a safe distance between a robot and a person. The developed system to avoid collision is suitable for industrial environments.<\/p>\n\n\n\n

Keywords:<\/em><\/strong> collision prevention, safety, collaborative robot, Webots<\/p>\n\n\n\n

For citation<\/strong>. Shereuzhev M.A., Arabadzhiev D.I., Semyannikov I.V.Modeling algorithm to avoid collisions in robotic collaborative systems. News of the Kabardino-Balkarian Scientific Center of RAS.<\/em> <\/strong>2024. Vol. 26. No. 6. Pp. 67\u201381. DOI: 10.35330\/<\/strong>1991-6639-2024-26-6-67-81<\/p>\n\n\n\n

R<\/strong>eferences<\/summary>\n
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  5. Rohmer E., Singh S.P.N., Freese M. V-REP: A versatile and scalable robot simulation framework. 2013 IEEE\/RSJ international conference on intelligent robots and systems. 2013. Pp. 1321\u20131326. DOI: 10.1109\/IROS.2013.6696520<\/li>\n\n\n\n
  6. Reinstein M., Hoffmann M. Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information. IEEE Transactions on Robotics. 2012. Vol. 29(2). Pp. 563\u2013571. DOI: 10.1109\/TRO.2012.2228309<\/li>\n\n\n\n
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  9. Jiang Y., Yang C., Ju Z., Liu J. Obstacle avoidance of a redundant robot using virtual force field and null space projection. Intelligent Robotics and Applications: XII International Conference, ICIRA. Springer. 2019. Pp. 728\u2013739. DOI: 10.1007\/978-3-030-27526-6_64<\/li>\n\n\n\n
  10. Kim C.Y., Kim Y.H., Ra W.S. Modified 1D virtual force field approach to moving obstacle avoidance for autonomous ground vehicles. Journal of Electrical Engineering & Technology. 2019. Vol. 14. Pp. 1367\u20131374. DOI: 10.1007\/s42835-019-00127-8<\/li>\n\n\n\n
  11. Xu Q., Zhang T., Zhou K. et al. Active collision Aaoidance for robotic Aam based on artificial potential field and deep reinforcement learning. Applied Sciences. 2024. Vol. 14(11). P. 4936. DOI: 10.3390\/app14114936<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    Information about the author<\/strong><\/summary>\n
    \n

    Madin A. Shereuzhev<\/strong>, Candidate of Engineering Sciences, Junior Research at the Center for
    Cognitive Technologies and Machine Vision of Moscow State University of Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Senior Teacher at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
    University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    shereuzhev@bmstu.ru, ORCID: https:\/\/orcid.org\/0000-0003-2352-992\u0425, SPIN-code: 1734-9056;
    Denis I. Arabadzhiev<\/strong>, Engineer at the Center for Cognitive Technologies and Machine Vision of
    Moscow State University of Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Postgraduate Student at the Department SM7 Robotic systems and mechatronics, Moscow State
    Technical University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    denisarabadzhiev13@gmail.com, SPIN-code: 7438-1760
    Ivan V. Semyannikov<\/strong>, Engineer of Student Robotics Office of Moscow State University of
    Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Master Student at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
    University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    semyannikoviv@student.bmstu.ru<\/p>\n\n\n\n

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    <\/p>\n<\/div>\n<\/details>\n","protected":false},"excerpt":{"rendered":"

    Modeling algorithm to avoid collisions in robotic collaborative systems M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov Upload the full text Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-home","meta":{"footnotes":""},"class_list":["post-2257","page","type-page","status-publish","hentry"],"yoast_head":"\n26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"og:description\" content=\"Modeling algorithm to avoid collisions in robotic collaborative systems M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov Upload the full text Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. 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