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 12 of 12 for “"Dubins"”.
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Rendezvous of multiple Dubins car agents with minimal sensing and control requirements
… system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that …
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The Creation of Motion Planning Software for a Car-like Robot
… model used for the car-like robot is the Dubins car, where a compact set of closed-form equations that describe the set of Dubins paths is presented in this dissertation. These equations are derived by modelling the Dubins car as an underactuated system on the special Euclidean group in …
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Path-Finding With Differential Constraints In Real Time Strategy Video Games
… containing precalculated paths found by using Dubins curves, and a modified path-finding algorithm.</p>
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Efficient Motion Planning and Control for Underwater Gliders
… horizontal component of motion matches that of "Dubins' car," a kinematic car with bounded turn rates. Dubins car is a classic example in the study of time-optimal control for mobile robots. For an underwater glider, one can relate time optimality to energy optimality. Specifically, for an …
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A tensor-train-decomposition-based algorithm for high-dimensional pursuit-evasion games
… to solve a six-dimensional problem involving two Dubins vehicles that is impractical to solve with VI.
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Optimal Control in Aircraft Trajectory Planning
… trajectories are provided by discrete search and Dubins paths, and the refined solutions reduce risk and/or flight time while remaining dynamically feasible and trackable in closed-loop simulation. The second case study develops an energy-optimal trajectory generation framework for a Lift+Cruise …
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Performance optimization for unmanned vehicle systems
… Salesman Problem (TSP). We study the TSP for the Dubins' vehicle, which models the limited turning radius of fixed wing UAVs. In contrast to previously proposed approaches, our algorithms determine an ordering of the waypoints that depends on the model of the vehicle dynamics. We evaluate the …
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Improving Human Safety through Integrated Autonomous Motion Planning
… we combine a global RRT* planner, leveraging a Dubins path tuned for human performance, with a local HCVO planner. Our human-based, integrated planning algorithm directly maps human movement to provide safe navigation suggestions to the user. First, we introduce the components of the integrated …
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Comparison of Modern Controls and Reinforcement Learning for Robust Control of Autonomously Backing Up Tractor-Trailers to Loading Docks
… to loading docks with arbitrary pose using Dubins Curves. The combination vehicles can be varied in wheelbase, hitch length, weight distributions, and tire cornering stiffness. The closed form calculation of the gains for the Linear Quadratic Regulator (LQR) rely heavily on having an …
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Guaranteed avoidance of unpredictable, dynamically constrained obstacles using velocity obstacle sets
… and a maximum turn rate (sometimes called the Dubins car model). This thesis extends the Velocity Obstacle formulation by using reachability sets in place of a single "known" trajectory to find matching constraints in velocity space, called Velocity Obstacle Sets. The Velocity Obstacle Set for …
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Control, estimation, and planning algorithms for aggressive flight using onboard sensing
… a transverse polynomial offset from a nominal Dubins path. The polynomial offset allows us to explicitly specify transverse derivatives in terms of linear equality constraints on the coefficients of the polynomial, and minimize transverse derivatives by using a Quadratic Program (QP) on the …
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Geodesic Problems for Mobile Robots
… Our airplane is a natural extention of the Dubins car, and extends it with an additional configuration variable for the altitude. We use the Pontryagin Maximum Principle to analytically characterize geodesics for it. To obtain a notion of shortest, time is optimized. Finally, we present an …