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 7 of 7 for “"velocity obstacle"”.
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Guaranteed avoidance of unpredictable, dynamically constrained obstacles using velocity obstacle sets
Dynamic obstacle avoidance is an important, ubiquitous, and often challenging problem for autonomous mobile robots. This thesis presents a new method to guarantee collision avoidance with respect to moving obstacles that have constrained dynamics but move unpredictably. Velocity Obstacles have been …
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Multi-contact protocol-constrained collision avoidance for autonomous marine vehicles
… have largely focused on iterative changes to the velocity obstacle - an algorithm that inherently loses important collision avoidance information key to replicating a human-like decision space. This thesis examines algorithms that generalize the traditional velocity obstacle into a multi-threshold …
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Robot designed for socially acceptable navigation
… avoidance method that extends the Reciprocal Velocity Obstacle (RVO) framework to consider the impact of planning decisions on future world states.
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Motion coordination for a mobile robot in dynamic environments
… continuously changing environments among moving obstacles such as humans is a complex task which requires the solution of various sub problems. In this thesis, we will cover the topics of perception and navigation in dynamic environments, as well as reasoning about the motion of the obstacles and …
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Comparing Potential Fields and Velocity Obstacles for Rules of the Road Compliant Ship Driving
… and one that determines a new trajectory from velocity obstacles and the closest point of approach. Prior work has used a variety of methods for ship driving, including genetic algorithms and velocity obstacles. However, the usage of potential fields in ship driving is unexplored and many ship …
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ROBOT NAVIGATION IN CROWDED DYNAMIC SCENES
… and dynamic environments filled with static obstacles, such as tables and chairs, as well as people and/or other robots, and to achieve this using the computational resources available onboard a mobile robot. This dissertation improves the state-of-the-art in autonomous navigation by …
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Simulation and Visualization of Environments with Multidimensional Time
This work introduces the notion of computational hypertime, or the simulation and visualization of hypothetical environments possessing multidimensional time. An overview of hypertime is provided,including an intuitive visualization paradigm and a discussion of the failure of common simulation …