2026-09-20T18:11:27Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/16483 2023-07-10 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Human Control Cost-to-go A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay Stipanović, Dušan M. Zearing, Joseph T. 2010-06-22T19:37:25Z 2010-06-22T19:37:25Z 2010-06-22T19:37:25Z 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. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2010-04-25T17:21:06Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 Zearing_Joseph.docx: 5039673 bytes, checksum: a79400bc4b2c29b766cfb28ee14d252e (MD5) Zearing_Joseph.pdf: 2014713 bytes, checksum: c549b35d3aebdb9a81aa01f4b1e39a19 (MD5) Made available in DSpace on 2010-06-22T19:37:25Z (GMT). No. of bitstreams: 3 Zearing_Joseph.docx: 5039673 bytes, checksum: a79400bc4b2c29b766cfb28ee14d252e (MD5) Zearing_Joseph.pdf: 2014713 bytes, checksum: c549b35d3aebdb9a81aa01f4b1e39a19 (MD5) license.txt: 4064 bytes, checksum: 29dd7b39ff9c04d33414ed687271be81 (MD5) http://hdl.handle.net/2142/16483 en Copyright 2010 Joseph T. Zearing Model Predictive Control (MPC) Receding Horizon Control Simulator Dijkstra Potential Field Control 2010-5 Mechanical Sci & Engineering 1917 Mechanical Engineering 0133 University of Illinois at Urbana-Champaign Thesis M.S. MS:BS/MS Mechanical Engr -UIUC 10KS4018MS