A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
Zearing, Joseph T.
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https://hdl.handle.net/2142/16483
Description
Title
A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
Author(s)
Zearing, Joseph T.
Issue Date
2010-06-22T19:37:25Z
Director of Research (if dissertation) or Advisor (if thesis)
Stipanović, Dušan M.
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Model Predictive Control (MPC)
Receding Horizon Control
Simulator
Dijkstra
Potential Field Control
Human Control
Cost-to-go
Abstract
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.
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