Distributed reactive collision avoidance
by Lalish, Emmett, Ph.D., UNIVERSITY OF WASHINGTON, 2009, 76 pages; 3393958

Abstract:

Collision avoidance is an important aspect of multivehicle coordination because it prevents vehicles from disrupting or destroying each other. The work contained in this dissertation concerns a novel approach to the n-vehicle collision avoidance problem. The vehicle model used here allows for three-dimensional movement and represents a wide range of vehicles. The algorithm works in conjunction with any desired controller to guarantee all vehicles remain free of collisions while attempting to follow their desired control. This algorithm is reactive and distributed, making it well-suited for real-time applications, and explicitly accounts for actuation limits. A robustness analysis is presented which provides a means to account for delays and unmodeled dynamics. Robustness to an adversarial vehicle is also presented.

 
AdviserKristi A. Morgansen
SchoolUNIVERSITY OF WASHINGTON
SourceDAI/B 71-02, p. , Mar 2010
Source TypeDissertation
SubjectsAerospace engineering; Electrical engineering; Robotics
Publication Number3393958
Adobe PDF Access the complete dissertation:
 

» Find an electronic copy at your library.
  Use the link below to access a full citation record of this graduate work:
  http://gateway.proquest.com/openurl%3furl_ver=Z39.88-2004%26res_dat=xri:pqdiss%26rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation%26rft_dat=xri:pqdiss:3393958
  If your library subscribes to the ProQuest Dissertations & Theses (PQDT) database, you may be entitled to a free electronic version of this graduate work. If not, you will have the option to purchase one, and access a 24 page preview for free (if available).

About ProQuest Dissertations & Theses
With over 2.3 million records, the ProQuest Dissertations & Theses (PQDT) database is the most comprehensive collection of dissertations and theses in the world. It is the database of record for graduate research.

The database includes citations of graduate works ranging from the first U.S. dissertation, accepted in 1861, to those accepted as recently as last semester. Of the 2.3 million graduate works included in the database, ProQuest offers more than 1.9 million in full text formats. Of those, over 860,000 are available in PDF format. More than 60,000 dissertations and theses are added to the database each year.

If you have questions, please feel free to visit the ProQuest Web site - http://www.proquest.com - or call ProQuest Hotline Customer Support at 1-800-521-3042.