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Title:A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
Author(s):Zearing, Joseph T.
Advisor(s):Stipanović, Dušan M.
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Model Predictive Control (MPC)
Receding Horizon Control
Potential Field Control
Human Control
Abstract:This thesis discusses a MATLAB based simulator designed to aid in the study of various controllers performing obstacle avoidance tasks in the presence of delay. The simulator is divided into functional blocks, each of which is described in detail. Several controllers were developed and their performance analyzed using the simulator. These controllers include several Model Predictive Control based controllers as well as an artificial Potential Field controller. Additionally, humans acted as controllers and their performance was quantified. The Model Predictive Control based controllers developed here include a simple application in which a two dimensional distance is employed as the cost-to-go, and a more advanced application that uses Dijkstra’s algorithm to find a more accurate cost-to-go estimate.
Issue Date:2010-06-22
Rights Information:Copyright 2010 Joseph T. Zearing
Date Available in IDEALS:2010-06-22
Date Deposited:May 2010

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