Collision avoidance based on line of sight angle

Controls;Robotics;Collision Avoidance;Line of Sight Angle

Bhardwaj, Ankit ; Stipanović ; Dušan M.

关键词: Controls;    Robotics;    Collision Avoidance;    Line of Sight Angle;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/90644/BHARDWAJ-THESIS-2016.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

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. Andfinally, some results from implementation of this algorithm on the robot will be discussed.