Vision-Based Obstacle Avoidance for Multiple Vehicles Performing Time-Critical Missions

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dc.contributor.authorDippold, Amandaen
dc.contributor.committeechairHovakimyan, Nairaen
dc.contributor.committeecochairWoolsey, Craig A.en
dc.contributor.committeememberHall, Christopher D.en
dc.contributor.committeememberFarhood, Mazen H.en
dc.contributor.departmentAerospace and Ocean Engineeringen
dc.date.accessioned2014-03-14T20:12:25Zen
dc.date.adate2009-06-11en
dc.date.available2014-03-14T20:12:25Zen
dc.date.issued2009-05-05en
dc.date.rdate2009-06-11en
dc.date.sdate2009-05-21en
dc.description.abstractThis dissertation discusses vision-based static obstacle avoidance for a fleet of nonholonomic robots tasked to arrive at a final destination simultaneously. Path generation for each vehicle is computed using a single polynomial function that incorporates the vehicle constraints on velocity and acceleration and satisfies boundary conditions by construction. Furthermore, the arrival criterion and a preliminary obstacle avoidance scheme is incorporated into the path generation. Each robot is equipped with an inertial measurement unit that provides measurements of the vehicle's position and velocity, and a monocular camera that detects obstacles. The obstacle avoidance algorithm deforms the vehicle's original path around at most one obstacle per vehicle in a direction that minimizes an obstacle avoidance potential function. Deconfliction of the vehicles during obstacle avoidance is achieved by imposing a separation condition at the path generation level. Two estimation schemes are applied to estimate the unknown obstacle parameters. The first is an existing method known in the literature as Identifier-Based Observer and the second is a recently-developed fast estimator. It is shown that the performance of the fast estimator and its effect on the obstacle avoidance algorithm can be arbitrarily improved by the appropriate choice of parameters as compared to the Identifier-Based Observer method. Coordination in time of all vehicles is completed in an outer loop which adjusts the desired velocity profile of each vehicle in order to meet the simultaneous arrival constraints. Simulation results illustrate the theoretical findings.en
dc.description.degreePh. D.en
dc.identifier.otheretd-05212009-143624en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-05212009-143624/en
dc.identifier.urihttp://hdl.handle.net/10919/27830en
dc.publisherVirginia Techen
dc.relation.haspartFinalVersion.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectPath generationen
dc.subjectpath followingen
dc.subjectobstacle avoidanceen
dc.subjectpath deformationen
dc.subjectvision-based estimationen
dc.subjectvisual sensorsen
dc.subjectcoordinated controlen
dc.subjecttime-critical missionsen
dc.titleVision-Based Obstacle Avoidance for Multiple Vehicles Performing Time-Critical Missionsen
dc.typeDissertationen
thesis.degree.disciplineAerospace and Ocean Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.leveldoctoralen
thesis.degree.namePh. D.en

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