Mehdi, Syed Bilal.
Collision avoidance for multi-vehicle cooperative missions.
Degree: PhD, Mechanical Engineering, 2017, University of Illinois – Urbana-Champaign
This thesis focuses on collision avoidance for multi-vehicle coordinated missions. Building upon an existing cooperative control framework, we propose collision-avoidance methods that rely on practicably available obstacle information and allow safe operation without compromising on the mission objectives.
Several applications of multi-vehicle coordinated missions require the vehicles to satisfy relative temporal constraints, such as maintaining formation throughout the mission or reaching their respective destinations at the same time. With such applications in focus, two different methodologies for collision avoidance are explored. We first consider a speed-adjustment based approach that can be used to avoid moving obstacles. Using obstacle information which may be available in real world applications such as air traffic management and highway driving, the proposed algorithm allows collision avoidance without requiring any vehicle to deviate from its path or lose coordination with other vehicles.
Next, trajectory replanning approach for obstacle avoidance is considered. Applicable to both static and moving obstacles, this method may require the vehicle to steer away from its originally intended path. The deviations in position, velocity and acceleration caused by the avoidance maneuver, however, are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and inter-vehicle safety distance even during collision avoidance maneuver. Through novel use of Bézier curves and surfaces for representing uncertain trajectories, these algorithms make use of partial information on obstacle trajectory and are computationally efficient.
Advisors/Committee Members: Hovakimyan, Naira (advisor), Hovakimyan, Naira (Committee Chair), Salapaka, Srinivasa (committee member), Stipanovic, Dusan M (committee member), Langbort, Cedric (committee member).
Subjects/Keywords: Collision avoidanace; Multi-vehicle missions; Cooperative missions; Bézier curves; Bézier surfaces; Speed adjustment
…to propose collision-avoidance solutions for such multi-vehicle
missions. In this regard… …collision-avoidance. In the case of a mission without absolute temporal constraints, varying the… …speeds of vehicles does not compromise on mission objectives.
Therefore, the collision… …avoidance. Once one of the vehicles is in a collision
course, the algorithm varies the speeds of… …information.
Keeping the focus on collision-avoidance, the algorithms proposed in this thesis…
to Zotero / EndNote / Reference
APA (6th Edition):
Mehdi, S. B. (2017). Collision avoidance for multi-vehicle cooperative missions. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/98384
Chicago Manual of Style (16th Edition):
Mehdi, Syed Bilal. “Collision avoidance for multi-vehicle cooperative missions.” 2017. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed April 23, 2019.
MLA Handbook (7th Edition):
Mehdi, Syed Bilal. “Collision avoidance for multi-vehicle cooperative missions.” 2017. Web. 23 Apr 2019.
Mehdi SB. Collision avoidance for multi-vehicle cooperative missions. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2017. [cited 2019 Apr 23].
Available from: http://hdl.handle.net/2142/98384.
Council of Science Editors:
Mehdi SB. Collision avoidance for multi-vehicle cooperative missions. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2017. Available from: http://hdl.handle.net/2142/98384