Abstract/Details

Distributed reactive collision avoidance


2009 2009

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Abstract (summary)

Collision avoidance is an important aspect of multivehicle coordination because it prevents vehicles from disrupting or destroying each other. The work contained in this dissertation concerns a novel approach to the n-vehicle collision avoidance problem. The vehicle model used here allows for three-dimensional movement and represents a wide range of vehicles. The algorithm works in conjunction with any desired controller to guarantee all vehicles remain free of collisions while attempting to follow their desired control. This algorithm is reactive and distributed, making it well-suited for real-time applications, and explicitly accounts for actuation limits. A robustness analysis is presented which provides a means to account for delays and unmodeled dynamics. Robustness to an adversarial vehicle is also presented.

Indexing (details)


Subject
Aerospace engineering;
Electrical engineering;
Robotics
Classification
0538: Aerospace engineering
0544: Electrical engineering
0771: Robotics
Identifier / keyword
Applied sciences; Air traffic; Collision avoidance; Vehcile collisions
Title
Distributed reactive collision avoidance
Author
Lalish, Emmett
Number of pages
76
Publication year
2009
Degree date
2009
School code
0250
Source
DAI-B 71/02, Dissertation Abstracts International
Place of publication
Ann Arbor
Country of publication
United States
ISBN
9781109610482
Advisor
Morgansen, Kristi A.
University/institution
University of Washington
University location
United States -- Washington
Degree
Ph.D.
Source type
Dissertations & Theses
Language
English
Document type
Dissertation/Thesis
Dissertation/thesis number
3393958
ProQuest document ID
305016570
Copyright
Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.
Document URL
http://search.proquest.com/docview/305016570
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