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2016-07-07T19:57:59Z 2016-07-07T19:57:59Z 2016-04-27 Stipanović, Dušan M. Bhardwaj, Ankit 2016-05 Autonomous robots have gained a wide acceptance in our society in last few decades. With the advancement in technology, their presence in every sphere of life is rapidly increasing. Despite all the advancements, there is still a huge scope of improvement in many areas of robotics. Collision avoidance is one such problem which, despite a lot advancements, is far from being completely solved. Most of the available collision avoidance schemes require very expensive sensors to acquire data. Collision avoidance problem can be subdivided into three parts namely- Sensing, Detection and avoidance. In this thesis, an algorithm pertaining to avoidance problem will be discussed. The objective of this thesis is to design a scheme which does not rely on sophisticated and expensive sensors. A novel collision avoidance scheme, which is solely based on line of sight angle, will be discussed. The line of sight angle can be obtained using an on-board camera and inertial measurement unit. Theoretical guarantees such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from implementation of this algorithm on the robot will be discussed. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-07-07 without embargo terms The student, Ankit Bhardwaj, accepted the attached license on 2016-04-25 at 12:14. The student, Ankit Bhardwaj, submitted this Thesis for approval on 2016-04-25 at 12:38. This Thesis was approved for publication on 2016-04-27 at 09:10. DSpace SAF Submission Ingestion Package generated from Vireo submission #9471 on 2016-07-07 at 13:32:59 Made available in DSpace on 2016-07-07T19:57:59Z (GMT). No. of bitstreams: 2 BHARDWAJ-THESIS-2016.pdf: 2173058 bytes, checksum: c0113b551b2f1ade903e4707584309c1 (MD5) LICENSE.txt: 4211 bytes, checksum: 9ae9a5b0dfdc757dcab1b65c6e3904e4 (MD5) Previous issue date: 2016-04-27 application/pdf http://hdl.handle.net/2142/90644 en Copyright 2016 Ankit Bhardwaj Controls Robotics Collision Avoidance Line of Sight Angle Collision avoidance based on line of sight angle text text Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.