Theses and Dissertations

Issuing Body

Mississippi State University


Ball, John E.

Committee Member

Shi, Jian

Committee Member

Hamilton, John A. Jr.

Date of Degree


Document Type

Graduate Thesis - Open Access


Electrical and Computer Engineering

Degree Name

Master of Science (M.S.)


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.