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Title:Collision avoidance for multi-vehicle cooperative missions
Author(s):Mehdi, Syed Bilal
Director of Research:Hovakimyan, Naira
Doctoral Committee Chair(s):Hovakimyan, Naira
Doctoral Committee Member(s):Salapaka, Srinivasa; Stipanovic, Dusan M; Langbort, Cedric
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Collision avoidanace
Multi-vehicle missions
Cooperative missions
Bézier curves
Bézier surfaces
Speed adjustment
Abstract:This thesis focuses on collision avoidance for multi-vehicle coordinated missions. Building upon an existing cooperative control framework, we propose collision-avoidance methods that rely on practicably available obstacle information and allow safe operation without compromising on the mission objectives. Several applications of multi-vehicle coordinated missions require the vehicles to satisfy relative temporal constraints, such as maintaining formation throughout the mission or reaching their respective destinations at the same time. With such applications in focus, two different methodologies for collision avoidance are explored. We first consider a speed-adjustment based approach that can be used to avoid moving obstacles. Using obstacle information which may be available in real world applications such as air traffic management and highway driving, the proposed algorithm allows collision avoidance without requiring any vehicle to deviate from its path or lose coordination with other vehicles. Next, trajectory replanning approach for obstacle avoidance is considered. Applicable to both static and moving obstacles, this method may require the vehicle to steer away from its originally intended path. The deviations in position, velocity and acceleration caused by the avoidance maneuver, however, are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and inter-vehicle safety distance even during collision avoidance maneuver. Through novel use of Bézier curves and surfaces for representing uncertain trajectories, these algorithms make use of partial information on obstacle trajectory and are computationally efficient.
Issue Date:2017-07-14
Type:Thesis
URI:http://hdl.handle.net/2142/98384
Rights Information:Copyright 2017 Syed Bilal Mehdi
Date Available in IDEALS:2017-09-29
Date Deposited:2017-08


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