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1	A Reactionary Obstacle Avoidance Algorithm For Autonomous Vehicles Yucel, Gizem 01 June 2012 (has links) (PDF) This thesis focuses on the development of guidance algorithms in order to avoid a prescribed obstacle primarily using the Collision Cone Method (CCM). The Collision Cone Method is a geometric approach to obstacle avoidance, which forms an avoidance zone around the obstacles for the vehicle to pass the obstacle around this zone. The method is reactive as it helps to avoid the pop-up obstacles as well as the known obstacles and local as it passes the obstacles and continue to the prescribed trajectory. The algorithm is first developed for a 2D (planar) avoidance in 3D environment and then extended for 3D scenarios. The algorithm is formed for the optimized CCM as well. The avoidance zone radius and velocity are optimized using constraint optimization, Lagrange multipliers with Karush-Kuhn-Tucker conditions and direct experimentation.
2	Simulation and Visualization of Environments with Multidimensional Time Tychonievich, Luther A. 21 January 2008 (has links) (PDF) This work introduces the notion of computational hypertime, or the simulation and visualization of hypothetical environments possessing multidimensional time. An overview of hypertime is provided,including an intuitive visualization paradigm and a discussion of the failure of common simulation techniques when extended to include multidimensional time. A condition for differential equations describing hypertime motion to be amenable to standard time-iterative simulation techniques is provided,but is not satisfied by any known model of physics. An alternate simulation algorithm involving iterative refinement of entire equations of motion is presented,with an example implementation to solve elastic collisions in hypertime. An artificial intelligence algorithm for navigating crowds in any arbitrary nD/mT environment is discussed,and an implementation is provided using collision cones and stochastic global optimization techniques. Possible models of hypertime energy and other open questions are discussed. Both algorithms are described and show favorable results, meeting all design criteria and running at interactive speeds on common desktop computer systems. hypertime multidimensional time simulation visualization program algorithm stochastic distance energy momentum elastic collision AI artificial intelligence obstacle crowd maneuver maneuvering board collision cone velocity obstacle Computer Sciences

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A Reactionary Obstacle Avoidance Algorithm For Autonomous Vehicles

Simulation and Visualization of Environments with Multidimensional Time