A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay

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. Additionally, humans acted as controllers and their performance was quantified. The Model Predictive Control based controllers developed here include a simple application in which a two dimensional distance is employed as the cost-to-go, and a more advanced application that uses Dijkstra’s algorithm to find a more accurate cost-to-go estimate.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2010

Author dc:creator

• Zearing, Joseph T.

Contributors dc:contributor

• Stipanović, Dušan M.

• Human Control
• Cost-to-go
• Model Predictive Control (MPC)
• Receding Horizon Control
• Simulator
• Dijkstra
• Potential Field Control

Statement dc:rights

• Copyright 2010 Joseph T. Zearing

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/16483

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/16483