Guidance-based rendezvous with moving objects in dynamic cluttered environments.
Published: 2005
Language: eng
Number of pages: 89
Description: The focus of this Thesis is on the following two autonomy aspects for intelligent and autonomous vehicles: (i) time-optimal interception and rendezvous with a moving object and (ii) obstacle avoidance. This Thesis presents two novel time-optimal on-line trajectory planning algorithms that allow a vehicle to navigate autonomously in dynamic cluttered environments, while avoiding other moving objects, in order to intercept and rendezvous with a moving target.The proposed trajectory planners are implemented in both computer simulations and experimentation. The results show that the proposed trajectory planner using velocity obstacles is able to achieve tangibly faster interceptions.The first algorithm implements static method of obstacle avoidance. A rendezvous-guidance technique is utilized in conjunction with a modified cell-decomposition method. The second algorithm implements a dynamic method of obstacle avoidance. Here, the problem is addressed by utilizing a modified version of the velocity obstacle approach, again augmented with a rendezvous-guidance algorithm.
Notes: Thesis (M.A.Sc.)--University of Toronto, 2005.

Electronic version licensed for access by U. of T. users.

Source: Masters Abstracts International, Volume: 44-01, page: 0528.

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