Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 238 for “"collision avoidance"”.
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Collision avoidance via laser rangefinding
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering, 1999.
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Collision avoidance for multi-vehicle cooperative missions
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 …
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Planning under uncertainty for dynamic collision avoidance
We approach dynamic collision avoidance problem from the perspective of designing collision avoidance systems for unmanned aerial vehicles. Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision …
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Airborne collision avoidance in mixed equipage environments
… an optimized decision logic for airborne collision avoidance. There have been a series of technical reports, conference papers, and journal articles summarizing the research, but they have primarily investigated two-aircraft encounters with only one aircraft equipped with a collision …
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Monocular vision for collision avoidance in vehicles
An experimental study facilitated by Ford Global Technologies, Inc. on the potential substitution of stereovision systems in car automation with monocular vision systems. The monocular system pairs a camera and passive lens with an active lens. Most active lenses require linear actuating systems to …
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RADAR Based Collision Avoidance for Unmanned Aircraft Systems
… of UAS increases so does the risk of mid-air collisions involving unmanned aircraft. This dissertation aims present one possible solution for addressing the mid-air collision problem in addition to increasing the levels of autonomy of UAS beyond waypoint navigation to include preemptive …
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Collision avoidance based on line of sight angle
… 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 …
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UAV collision avoidance: a specific acceleration matching approach
… action if required. This thesis investigates a collision avoidance system to satisfy a significant portion of the requirements for sense and avoid. It was hypothesised that a recently published method of UAV guidance, Specific Acceleration Matching (SAM) Control, could address the shortcomings …
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Head-up display symbology for ground collision avoidance
Four predictive ground collision avoidance displays (Break-X, Chevrons, Mountain, and Highway) were tested using a fixed-base T-38 simulator with a projection screen and simulated Head-Up Display (HUD). The Break-X was similar to the conventional military alert except that it remained on the screen …
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Intent-aware collision avoidance for autonomous marine vehicles
… human-operated vehicles, demands compliance with collision avoidance protocol, namely the International Regulations for Preventing Collisions at Sea (COLREGS). Strict application of this protocol can lead to a highly constrained motion planning problem, in which it is difficult for a vehicle to …
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Safety Assurance for Automated Vehicles Beyond Collision Avoidance
… existing safety modules to independently verify collision avoidance, obedience to traffic rules, and vehicle lane discipline. This project provides theoretical proof of safety and implements control methods within Nvidia’s DriveWorks autonomous vehicle framework.
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Real-time collision avoidance for autonomous air vehicles
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1998.
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A real-time robot collision avoidance safety system
… are presented for a prototype real-time collision avoidance safety system supporting tele-operated robot arms. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes three dimensional space into eight equal cubic octants (nodes) …
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Debris collision avoidance maneuver optimization (CAMO) for satellite constellations
… and future satellite constellations. Traditional collision avoidance strategies, which typically rely on single-impulse maneuvers executed in response to ground-based warnings, often suffer from high propellant costs and operational inefficiencies due to late detection and reaction times. This …
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Real-Time Self-Collision Avoidance for Dynamic Legged Robots
Avoiding self-collisions is particularly challenging for legged robots, yet critical for them to avoid falling and damaging themselves. Unlike standard obstacle avoidance where the obstacles in the environment are relatively static, in self-collision avoidance the "obstacles" are the robot’s limbs …
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Cooperative Decentralized Intersection Collision Avoidance Using Extended Kalman Filtering
… devices used to increase safety and prevent collisions. However, these devices themselves can contribute to collisions, are costly, inefficient, and are prone to failure. This thesis proposes an adaptive, decentralized, cooperative collision avoidance (CCA) system that optimizes each …
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Arc Path Collision Avoidance Algorithm for Autonomous Ground Vehicles
Presented in this thesis is a collision avoidance algorithm designed around an arc path model. The algorithm was designed for use on Virginia Tech robots entered in the 2003 and 2004 Intelligent Ground Vehicle Competition (IGVC) and on our 2004 entry into the DARPA Grand Challenge. The arc path …
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Three-Dimensional, Vision-Based Proportional Navigation for UAV Collision Avoidance
… or dynamic obstacles also increases. Therefore, collision avoidance is an important challenge to overcome for Unmanned Aerial Vehicle operations. Electro-optical devices have several advantages such as light weight, low cost, low algorithm requirements with respect to computational power and …
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