Collision avoidance based on line of sight angle

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.

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

2016

Author dc:creator

• Bhardwaj, Ankit

Contributors dc:contributor

• Stipanović, Dušan M.

• Controls
• Robotics
• Collision Avoidance
• Line of Sight Angle

Statement dc:rights

• Copyright 2016 Ankit Bhardwaj

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/90644

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/90644