Collision avoidance based on line of sight angle

Bhardwaj, Ankit

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https://hdl.handle.net/2142/90644 Copy

Description

Title

Collision avoidance based on line of sight angle

Author(s)

Bhardwaj, Ankit

Issue Date

2016-04-27

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)

• Controls
• Robotics
• Collision Avoidance
• Line of Sight Angle

Abstract

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.

Graduation Semester

2016-05

Type of Resource

text

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http://hdl.handle.net/2142/90644

Copyright and License Information

Copyright 2016 Ankit Bhardwaj

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