Collision avoidance for multi-vehicle cooperative missions

Mehdi, Syed Bilal

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https://hdl.handle.net/2142/98384 Copy

Description

Title

Collision avoidance for multi-vehicle cooperative missions

Author(s)

Mehdi, Syed Bilal

Issue Date

2017-07-14

Director of Research (if dissertation) or Advisor (if thesis)

Hovakimyan, Naira

Doctoral Committee Chair(s)

Hovakimyan, Naira

Committee Member(s)

• Salapaka, Srinivasa
• Stipanović, Dušan M.
• Langbort, Cedric

Department of Study

Mechanical Sci & Engineering

Discipline

Mechanical Engineering

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

Ph.D.

Degree Level

Dissertation

Keyword(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.

Graduation Semester

2017-08

Type of Resource

text

Permalink

http://hdl.handle.net/2142/98384

Copyright and License Information

Copyright 2017 Syed Bilal Mehdi

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