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A Reactionary obstacle avoidance algorithm for autonomous vehicles
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index.pdf
Date
2012
Author
Yücel, Gizem
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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.
Subject Keywords
Constrained optimization.
,
Constraints (Artificial intelligence).
,
Autonomous robots.
URI
http://etd.lib.metu.edu.tr/upload/12614480/index.pdf
https://hdl.handle.net/11511/21631
Collections
Graduate School of Natural and Applied Sciences, Thesis