{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/16483"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/16483","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay","abstract":"This thesis discusses a MATLAB based simulator designed to aid in the study of various controllers performing obstacle avoidance tasks in the presence of delay. The simulator is divided into functional blocks, each of which is described in detail. Several controllers were developed and their performance analyzed using the simulator. These controllers include several Model Predictive Control based controllers as well as an artificial Potential Field controller. 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