|
Title:
|
Simulating collision detection and avoidance in highly dynamic environment
|
|
Author:
|
Pancholi, Nishad
|
|
Abstract:
|
This project develops methods for collision detection between multiple robots in highly dynamic environment. Kinematics based characterization is proposed to precisely identify collision. Collision avoidance algorithm developed using priority of the robot. Based on the priority of the robot, change in the velocity is proposed to avoid collision. Simulation of this algorithm is performed using MATLAB. In simulation initially collision detection and avoidance between two robots are proposed. Later this approach is extended to detect collision between multiple moving robots. Highly dynamic environment is created for the simulation where these algorithms running in parallel for each robot. Change in the programming code can be made to create different types of environment. |
|
Description:
|
Project (M.S., Electrical and Electronic Engineering) -- California State University, Sacramento, 2011. |
|
URI:
|
http://hdl.handle.net/10211.9/1210
|
|
Date:
|
2011-07-11 |
