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Coverstone, Victoria L. Francesco Bullo Cerven, William Todd 2015-09-25T22:34:20Z 2015-09-25T22:34:20Z 10000-01-01 2003 2003 Motion planning has become an increasingly important task as autonomy in mechanical systems has gained in popularity. Such systems must be able to plan new trajectories and controls reliably and rapidly in response to inputs. The challenges in creating such planners are decidedly non-trivial, including issues such as algorithm convergence, its correspondence to system controllability, optimality of solution, computational complexity, and dynamic environments. In response to these challenges, a hierarchical algorithm will be introduced that provides (a) decreased computational complexity though symmetry and a hybrid systems representation of the dynamics, (b) utilization of local controllability through a local planning algorithm, (c) minimization of a cost functional, (d) a randomized planner for obstacle avoidance, and (e) convergence guarantees. Applications include autonomous vehicles, sensor-based planning, and multiple vehicle coordination in ground-based, underwater, atmospheric, and orbital environments. Made available in DSpace on 2015-09-25T22:34:20Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3101812.pdf: 6513353 bytes, checksum: 9be3fcf90935cd895cb60af32d790a65 (MD5) Previous issue date: 2003 Embargo set by: Seth Robbins for item 86359 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs U of I Only 143 p. Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2003. http://hdl.handle.net/2142/85078 (MiAaPQ)AAI3101812 eng Engineering, Mechanical Efficient Hierarchical Global Motion Planning for Autonomous Vehicles text Aerospace Engineering Aerospace Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.