Type of Document	Master's Thesis
Author	Howells, Christopher Corey
Author's Email Address	chowells@vt.edu
URN	etd-05272004-121200
Title	Game-Theoretic Approach with Cost Manipulation to Vehicular Collision Avoidance
Degree	Master of Science
Department	Electrical and Computer Engineering
Advisory Committee	Advisor Name Title Kachroo, Pushkin Committee Chair Abbott, A. Lynn Committee Member Baumann, William T. Committee Member
Keywords	intelligent transportation system collision avoidance differential games autonomous vehicle
Date of Defense	2004-05-13
Availability	restricted
Abstract Collision avoidance is treated as a game of two players with opposing desiderata. In the application to automated car-like vehicles, we will use a differential game in order to model and assess a worst-case analysis. The end result will be an almost analytic representation of a boundary between a “safe” set and a “unsafe” set. We will generalize the research in [27] to non-identical players and begin the setup of the boundary construction. Then we will consider the advantages and disadvantages of manipulation of the cost function through the solution and control techniques. In particular, we introduce a possible way to incorporate a secondary objective such as sticking to a straight path. We also look a hybrid technique to reduce steering when the opposing player is out of the reach of the vehicle; i.e., is out of the “unsafe” set and less extreme maneuvers may be desired. We first look at a terminal cost formulation and through retrograde techniques may shape this boundary between the “safe” and “unsafe” set. We would like this research, or part thereof, to be assessed and simulated on a simulation vehicle such as that used in the Flexible Low-cost Automated Scaled Highway (FLASH) at the Virginia Tech Transportation Institute (VTTI). In preparation, we briefly look at the sensor demands from this game-theoretic approach.
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