This 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. / Ph. D.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/27830 |
| Date | 11 June 2009 |
| Creators | Dippold, Amanda |
| Contributors | Aerospace and Ocean Engineering, Hovakimyan, Naira, Hall, Christopher D., Farhood, Mazen H., Woolsey, Craig A. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Dissertation |
| Format | application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
| Relation | FinalVersion.pdf |
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