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DISCRETE GEOMETRIC MOTION CONTROL OF AUTONOMOUS
VEHICLES
by
Marin Kobilarov
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Ful llment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(COMPUTER SCIENCE)
August 2008
Copyright 2008 Marin Kobilarov
Object Description
| Title | Discrete geometric motion control of autonomous vehicles |
| Author | Kobilarov, Marin |
| Author email | mkobilar@usc.edu; marinkobi@gmail.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science (Robotics & Automation) |
| School | Viterbi School of Engineering |
| Date defended/completed | 2008-04-17 |
| Date submitted | 2008 |
| Restricted until | Unrestricted |
| Date published | 2008-08-08 |
| Advisor (committee chair) | Sukhatme, Gaurav |
| Advisor (committee member) |
Newton, Paul Schaal, Stefan Marsden, Jerrold Desbrun, Mathieu |
| Abstract | The goal of this work is to develop methods to optimally control autonomous robotic vehicles in natural environments. The main contribution is the derivation of state-space structure respecting integration and optimization schemes for mechanical systems with symmetries, controllable shape dynamics, and nonholonomic constraints based on the theory of discrete mechanics. At the core of this approach lies the discretization of variational principles of mechanics that results in various numerical benefits previously unexplored in the area. The resulting framework is then used as a basis for developing optimal control methods applicable to various systems. Developed examples include simplified models of a car, a helicopter, a snakeboard, and a boat. The resulting algorithms are numerically stable, preserve the mechanical geometric structure, and are numerically competitive to existing methods. In addition, two important extensions with view towards practical applications are proposed. First, complex constraints are handled morerobustly using homotopy continuation -- the process of relaxing nontrivial motion constraints arising either from complicated dynamics or from obstacles in the environment and then smoothly transforming the solution of such easier problem into the original one by deforming the constraints back to their original shape. Second, the optimality and computational efficiency of solution trajectories is addressed by combining discrete mechanics and optimal control (DMOC) with sampling-based roadmaps -- a motion planning method focused on global exploration of the state-space. This allows the composition of simple locally optimal DMOC solution trajectories into near globally optimal motions that can handle complex, cluttered environments. |
| Keyword | robotics; motion planning; discrete mechanics; optimal control; probabilistic roadmap; homotopy; continuation |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m1570 |
| Rights | Kobilarov, Marin |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | http://www.usc.edu/isd/libraries/services/ask_a_librarian/email/ |
| Filename | etd-kobilarov-2278 |
| Archival file | uscthesesreloadpub_Volume32/etd-kobilarov-2278.pdf |
Description
| Title | Page 1 |
| Full text | DISCRETE GEOMETRIC MOTION CONTROL OF AUTONOMOUS VEHICLES by Marin Kobilarov A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Ful llment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (COMPUTER SCIENCE) August 2008 Copyright 2008 Marin Kobilarov |
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