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.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12614480/index.pdf |
| Date | 01 June 2012 |
| Creators | Yucel, Gizem |
| Contributors | Yavrucuk, Ilkay |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for METU campus |
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