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Avoidance filtering using constrained control

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Abstract:
This talk considers the problem of assisting human operators to avoid obstacles by filtering the operator's command. Such a problem is referred to as an avoidance filtering problem and naturally has the form of an infinite horizon constrained control problem. I will present two methodologies for solving the avoidance filtering problem. The first uses a receding horizon control framework, while the second uses set theoretic control. For both of these methodologies the general form of the solution will be developed and more computationally efficient modifications to the problem will be present. The suitability of the two methods for solving the avoidance filtering problem will be shown by implementing and comparing them for two problems: A simulated, velocity-controlled point mass avoiding a non-convex obstacle in 2D, and initial results on the incorporation of an avoidance system for a large mining excavator.

Type of Seminar:
IfA Seminar
Speaker:
Michael Kearney
Mechanical Engineering within The University of Queensland and Cooperative Research Centre for Mining
Date/Time:
Aug 21, 2009   16:00 /
Location:

ETH Zentrum, Building ETL , Room K 25
Contact Person:

Dr. Colin Jones
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Biographical Sketch:
Michael obtained a BE(Hons 1) in Mechatronic Engineer and a BSc in Mathematics from The University of Queensland in 2005. He obtained a University Medal. Since then he has been studying for his PhD in control and automation at the Division of Mechanical Engineering within The University of Queensland and Cooperative Research Centre for Mining. His present research interests are constrained control and automation.