Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Autonomous Ground Vehicles"”.
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Localization for teams of autonomous ground vehicles
… creating a localization engine for a fleet of autonomous ground robots using ultra-wideband (UWB) beacons in concert with the robots’ on-board IMUs and encoders. The error observed from the uncorrected UWB ranges was quantified for line-of-sight conditions, and a calibration procedure was …
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A Proposed Standardized Testing Procedure for Autonomous Ground Vehicles
Development of unmanned vehicles will increase as the need to save lives rises. In both military and civilian applications, humans can be taken out of the loop through the implementation of safe and intelligent autonomous vehicles. Although hardware and software development continue to play a large …
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Arc Path Collision Avoidance Algorithm for Autonomous Ground Vehicles
… robots entered in the 2003 and 2004 Intelligent Ground Vehicle Competition (IGVC) and on our 2004 entry into the DARPA Grand Challenge. The arc path model was used because of the simplicity of the calculations and because it can accurately represent the base kinematics for Ackerman or …
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Cooperative Perception in Autonomous Ground Vehicles using a Mobile Robot Testbed
With connected and autonomous vehicles, no optimal standard or framework currently exists, outlining the right level of information sharing for cooperative autonomous driving. Cooperative Perception is proposed among vehicles, where every vehicle is transformed into a moving sensor platform that is …
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Design of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeter
… formation control is an asset to collaborative vehicles. This paper presents a novel approach based on the Received Signal Strength Indication (RSSI) measurement between broadcast and receive nodes to calculate distance and using the data transfer capability to allow each vehicle to develop a …
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S*: Geometric Multimodal Trajectory Optimization via Apex Interpolating Spiro Splines
… geometric trajectory optimization method for autonomous ground vehicles in dynamic environments that uses apex interpolating Spiro splines to optimize orders of magnitude fewer variables than numerical optimization, and (ii) an anytime best-first multimodal variant of S* using a parallel …
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Identification of barriers and least cost paths for autonomous vehicle navigation using airborne LIDAR data
… has sponsored two Grand Challenges, races among autonomous ground vehicles in rural environments. These vehicles must follow a course delineated by Global Positioning System waypoints using no human guidance. Airborne LIDAR data and GIS can play a significant role in identifying barriers and …
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Accumulated Surfaces & Least-Cost Paths: GIS Modeling for Autonomous Ground Vehicle (AGV) Navigation
… is a crucial part of any land navigation system. Autonomous ground vehicles should have access to stored geographic data and the ability to manipulate it for routing purposes. Since there is no human interaction involved in operating these vehicles, data that a human driver would use to make …
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Lane estimation for autonomous vehicles using vision and LIDAR
Autonomous ground vehicles, or self-driving cars, require a high level of situational awareness in order to operate safely and eciently in real-world conditions. A system able to quickly and reliably estimate the location of the roadway and its lanes based upon local sensor data would be a valuable …
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A Method for Modeling and Prediction of Ground Vehicle Dynamics and Stability in Autonomous Systems
A future limitation of autonomous ground vehicle technology is the inability of current algorithmic techniques to successfully predict the allowable dynamic operating ranges of unmanned ground vehicles. A further difficulty presented by real vehicles is that the payloads may and probably will …
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Smart Power Module for Distributed Sensor Power Network of an Unmanned Ground Vehicle
… of modern conversion elements. Unmanned ground vehicles (UGVs) is an application where efficiency can be crucial in extending tight power budgets. In autonomous ground vehicles, geographic diversity with regard to sensor location is inherent because sensor orientation and placement are …
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Development of a Next-generation Experimental Robotic Vehicle (NERV) that Supports Intelligent and Autonomous Systems Research
… technology have enabled the development of truly autonomous ground vehicles capable of performing complex navigation tasks. As a result, the demand for practical unmanned ground vehicle (UGV) systems has increased dramatically in recent years. Central to these developments is maturation of …
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Analysis of Transient and Steady State Vehicle Handling with Torque Vectoring
Advanced Driver Assistance Systems (ADAS) and Autonomous Ground Vehicles (AGV) have the potential to increase road transportation safety, environmental gains, and passenger comfort. The advent of Electric Vehicles has also facilitated greater flexibility in powertrain architectures and control …
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Deep Learning-Based Visual Localisation and Navigation for the Voyager Mobile Robotic Platform
Autonomous ground vehicles (AGVs) are becoming increasingly popular in industrial and research environments and are employed to perform repetitive or hazardous tasks without direct human intervention. One major challenge in autonomous navigation lies in reliably estimating a robot’s position and …