Can the US dollar collapse and what are steps that I should take in the event that this happens?
The reason the US dollar is not destined to collapse anytime soon is that the United States has the most powerful military in the world, and one of the strongest economies. 

To put it simply, we produce sufficient food and clean water to feed our people, and we have sufficient housing and infrastructure to ensure that basic needs are met for the vast majority of our citizens. That isn't likely to change in the near future. This means that our currency in a way (though not directly) is backed by those resources (food, water, shelter, electricity, etc.) despite not being tied directly to an indicator like gold. This being the case the only other possible downfall of our currency would be theft or extortion by foreign powers that would deprive us of those resources. As I first noted, our military ensures that this will not happen.

Often, a point of concern for many people is our debt. We have $20 Trillion in debt at the moment. However, just like you wouldn't go try to collect the debt owed to you by "El Chapo," Al Capone, John Gotti, or other violent groups with more guns than you, other countries are deterred from attempts at aggressive collections on the US debt. This is where the intertwining of our economies becomes important. With those economic relationships in place, these countries ultimately get things of value from the United States. Why would they cede those things to the detriment of both the US and that country unless they had an extraordinary reason? This paradox helps to ensure the stability of the currency as well.

That said, if it's still something you're worried about gold and bitcoin are both good investments, as are foreign currencies. A fundamental principle in investments is diversification. The more you spread your money into reasonable investments the less likely it becomes that all of your investments will fail. Thus you will always have something to fall back on.