{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/90644"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/90644","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Collision avoidance based on line of sight angle","abstract":"Autonomous robots have gained a wide acceptance in our society in last few decades. With the advancement in technology, their presence in every sphere of life is rapidly increasing. Despite all the advancements, there is still a huge 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 subdivided into three parts namely- Sensing, Detection and avoidance. In this thesis, an algorithm pertaining to avoidance problem will be discussed. The objective of this thesis is to design a scheme which does not rely on sophisticated and expensive sensors. A novel collision avoidance scheme, which is solely based on line of sight angle, will be discussed. The line of sight angle can be obtained using an on-board camera and inertial measurement unit. Theoretical guarantees such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from implementation of this algorithm on the robot will be discussed.","abstract_html":"Autonomous robots have gained a wide acceptance in our society in last few decades. With the advancement in technology, their presence in every sphere of life is rapidly increasing. Despite all the advancements, there is still a huge 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 subdivided into three parts namely- Sensing, Detection and avoidance. In this thesis, an algorithm pertaining to avoidance problem will be discussed. The objective of this thesis is to design a scheme which does not rely on sophisticated and expensive sensors. A novel collision avoidance scheme, which is solely based on line of sight angle, will be discussed. The line of sight angle can be obtained using an on-board camera and inertial measurement unit. Theoretical guarantees such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from implementation of this algorithm on the robot will be discussed.","abstract_has_math":false,"creators":["Bhardwaj, Ankit"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Stipanović, Dušan M."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2016,"date_issued":"2016-07-07T19:57:59Z","date_published":"2016-07-07T19:57:59Z","updated_at":"2026-07-22T22:26:34Z","subjects":["Controls","Robotics","Collision Avoidance","Line of Sight Angle"],"languages":["en"],"rights":["Copyright 2016 Ankit Bhardwaj"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/90644","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Stipanović, Dušan M."]},{"key":"dc:creator","label":"Author","values":["Bhardwaj, Ankit"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2016-07-07T19:57:59Z","2016-04-27","2016-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Controls","Robotics","Collision Avoidance","Line of Sight Angle"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Ankit Bhardwaj"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/90644"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Autonomous robots have gained a wide acceptance in our society in last few decades. With the advancement in technology, their presence in every sphere of life is rapidly increasing. Despite all the advancements, there is still a huge 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 subdivided into three parts namely- Sensing, Detection and avoidance. In this thesis, an algorithm pertaining to avoidance problem will be discussed. The objective of this thesis is to design a scheme which does not rely on sophisticated and expensive sensors. A novel collision avoidance scheme, which is solely based on line of sight angle, will be discussed. The line of sight angle can be obtained using an on-board camera and inertial measurement unit. Theoretical guarantees such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from implementation of this algorithm on the robot will be discussed.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-07-07 without embargo terms","The student, Ankit Bhardwaj, accepted the attached license on 2016-04-25 at 12:14.","The student, Ankit Bhardwaj, submitted this Thesis for approval on 2016-04-25 at 12:38.","This Thesis was approved for publication on 2016-04-27 at 09:10.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9471 on 2016-07-07 at 13:32:59","Made available in DSpace on 2016-07-07T19:57:59Z (GMT). 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Most of the available collision avoidance schemes require very expensive sensors to acquire data. Collision avoidance problem can be subdivided into three parts namely- Sensing, Detection and avoidance. In this thesis, an algorithm pertaining to avoidance problem will be discussed. The objective of this thesis is to design a scheme which does not rely on sophisticated and expensive sensors. A novel collision avoidance scheme, which is solely based on line of sight angle, will be discussed. The line of sight angle can be obtained using an on-board camera and inertial measurement unit. Theoretical guarantees such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from implementation of this algorithm on the robot will be discussed.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-07-07 without embargo terms","The student, Ankit Bhardwaj, accepted the attached license on 2016-04-25 at 12:14.","The student, Ankit Bhardwaj, submitted this Thesis for approval on 2016-04-25 at 12:38.","This Thesis was approved for publication on 2016-04-27 at 09:10.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9471 on 2016-07-07 at 13:32:59","Made available in DSpace on 2016-07-07T19:57:59Z (GMT). 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