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 9 of 9 for “"Dynamic Obstacle Avoidance"”.
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Dynamic Obstacle Avoidance on a Self-balancing Robot Platform
… that this work specifically focuses upon is dynamic obstacle avoidance by a robotic unit that is guided by a human user. Dynamic obstacles are objects that move in the environment independently from the robot and can potentially raise safety concerns for the robotic platform. In order to …
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Safe trajectory planning of autonomous vehicles
… linear programming (MILP) to incorporate kino-dynamic, obstacle avoidance and collision avoidance constraints. Agile vehicle dynamics are captured through a hybrid control architecture that combines several linear time-invariant modes with a discrete set of agile maneuvers. The latter are …
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Development of a simulation-based platform for autonomous vehicle algorithm validation
… used to both develop and validate an approach to dynamic obstacle avoidance, a new capability in our codebase. Our platform is a capable tool for both validation and development of autonomous driving algorithms, although open directions remain in the areas of simulator sensor realism and runtime …
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Autonomous Racing and Overtaking for the Voyager Unmanned Ground Vehicle
… vehicle (UGV) to perform autonomous racing and dynamic obstacle avoidance. Two obstacle-avoidance formulations are evaluated separately under matched scenarios: (i) a cost-function (soft) penalty on vehicle–to–obstacle proximity and (ii) hard inequality constraints enforcing minimum separation. …
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Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning
… ground vehicles, quadrupeds and humanoids in dynamically changing GPS denied environments without a-priori maps, exclusively using onboard sensors, is an unsolved problem that has potential to transform the economy, and vastly improve humanity's capabilities with improvements to agriculture, …
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A Safe and Robust Multi-Agent Motion Planning Framework for Urban Air Mobility
… years. Agents must be capable of real-time dynamic obstacle avoidance, planning motion in accordance with their own constraints, and detecting system failures or potential adversarial attacks. They must also be prepared to react to the behavior of other agents in the environment expressing a …
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Improving Human Safety through Integrated Autonomous Motion Planning
… have used either global planning around static obstacles or local dynamic obstacle dodging to address this research question. In our proposed solution, we combine a global RRT* planner, leveraging a Dubins path tuned for human performance, with a local HCVO planner. Our human-based, integrated …
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Guaranteed avoidance of unpredictable, dynamically constrained obstacles using velocity obstacle sets
Dynamic obstacle avoidance is an important, ubiquitous, and often challenging problem for autonomous mobile robots. This thesis presents a new method to guarantee collision avoidance with respect to moving obstacles that have constrained dynamics but move unpredictably. Velocity Obstacles have been …
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Collaborative control strategies for robotic manipulation
… the chemical industry, the use of MPC on fast, dynamic robotic systems is still an area requiring open to improvements, especially in terms of app the area of dynamic obstacle avoidance. Initially MPC for a simple point to point problem is investigated on a single robotic manipulator. This …