Ball, John E.
Hamilton, John A. Jr.
Date of Degree
Graduate Thesis - Open Access
James Worth Bagley College of Engineering
Department of Electrical and Computer Engineering
Accidental collisions involving wheeled industrial ground vehicles can be costly to repair, cause serious (even fatal) human injury, and lead to setbacks with tight operation schedules. Reduction of vehicle collisions carries numerous safety and financial incentives. In this work, an integrated collision avoidance package is developed to reduce the number of vehicle collisions. Utilizing feedback from on-board sensing devices, a model predictive control (MPC) algorithm predicts control options and paths, then disallows drivers to accelerate and/or induces braking of the vehicle if a collision is imminent. A prototype system is developed, implemented, and tested on an industrial vehicle to mitigate collisions with people and high-value equipment. Testing results show that control can be executed in real time by the proposed system, and that the proposed method is effective in preventing an industrial vehicle from hitting detected obstacles and entering restricted areas.
Hannis, Tyler James, "Implementation of a brassboard prototype of a collision avoidance system for use in ground vehicles" (2018). Theses and Dissertations MSU. 2629.