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 20 of 22 for “"Non-holonomic"”.
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Improving Controllers for Formations and Deconfliction among Non-holonomic Vehicles
… method for simulating formations of systems with non-holonomic motion constraints inspired by solutions in robotics. The geometric reasoning takes place in curvilinear coordinates, which are defined by the curvature of the leaders reference trajectory, in order to directly satisfy the constraints, …
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Dynamics-based control of a mobile robot with non-holonomic constraints.
The development of a planetary rover for use on the moon or on Mars has generated further interest in autonomous vehicles which are capable of moving through a complicated terrain with minimal supervision. One approach for enhancing autonomy is a dynamics based controller which could ensure motion …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
… are particularly challenging in systems with non-holonomic and underactuated dynamics. This thesis develops two intelligent sampling strategies to help guide the search process. To reduce sensitivity to dimension, sampling can be done in a low-dimensional task space rather than in the …
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Optimizing Non-Convex Objectives to Plan More Optimal Motion for Manipulators
Non-convex optimization is essential to tackle increasingly complex and practical problems in kinematic motion planning. Although introducing non-convexity often sacrifices guarantees of feasibility and optimality–making solutions more susceptible to local minima or failure to converge–many robotic …
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Open loop aspects of two-wheeled vehicle stability characteristics
… wheeled vehicle behavior. Kinematic coupling and non-holonomic constraints make it difficult to address the two wheeled vehicle stability problem on an analytical basis. Development of tools that facilitate the analytical study of complex dynamic systems and their application to a motorcycle model …
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Deformation theory analysis of a dynamically loaded rigid-plastic cantilever
… they considered they had replaced the usual non-holonomic viscous rigid-plastic relation by a holonomic deformation theory or non-linear elastic relation. This interpretation can be made because Taya and Mura did not consider any applications in which unloading took place.
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A perception-guided approach to motion and manipulation planning
… for motion and manipulation planning under non-holonomic constraints. However, the conventional RRT algorithm may perform poorly in the presence of noise and uncertainty. This thesis proposes a modified form of the algorithm that seeks to reduce the robot's uncertainty in its estimate of the …
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Global Formulation and Control of a Class of Nonholonomic Systems
<p>This thesis study motion of a class of non-holonomic systems using geometric mechanics, that provide us an efficient way to formulate and analyze the dynamics and their temporal evolution on the configuration manifold. The kinematics equations of the system, viewed as a rigid body, are …
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Coverage Path Planning And Control For Autonomous Mobile Robots
… approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. …
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Nonlinear and switched systems: Geometric motion planning, non-monotonic Lyapunov functions and input-to-state stability
… for motion planning and analysis of stability of nonlinear and switched systems have been researched in this work. In terms of control strategy, we propose a novel approach to the long-standing problem of motion planning for non-holonomic systems. The admissible motion is obtained by properly …
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Control of the motion of nonholonomic systems
… with the control, guidance and stabilisation of nonlinear, non¬holonomic systems. It is shown that the kinematics of the system can be separated from the dynamics of the system by using successively two inverse dynamics type of transformations. This leads to a linear decoupled kinematical system, …
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Generic dynamic modelling and model-based trajectory tracking control of wheeled mobile robots (WMRs)
… degrees of freedom and emphasises the system's non-holonomic nature, unlike schemes based on the Newton-Euler and Lagrangian methods. The novel 5-step procedure is applied to model WMRs with common wheel types and configurations for various loading and operating conditions. The dynamic loads on …
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Fast interceptor of a dynamic object
… and control strategy that enables an unmanned non-holonomic vehicle to intercept a fast moving object. The path planning is performed under model uncertainty, with respect to the vehicle's maneuverability, as well as uncertainty in the estimation of the object's future trajectory and position. …
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Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.
… These algorithms are designed to afford the non-holonomic nature of fixed-wing vehicles and the restrictions their dynamics impose. Moreover, this Thesis also proposes a variation of a well-known path tracking algorithm, in order to further reduce the flight error of waypoint following, by …
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Optimal Control for a Two Player Dynamic Pursuit Evasion Game; The Herding Problem
… path in the Euler Lagrange sense. Then, a non-holonomic realization of the two agents is proposed. In this and we show that the optimal control policy is in the form of a feedback control law that enables the pursuer to achieve the same objective using the shortest path. The second …
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Robust motion planning for autonomous tracked vehicles in deformable terrain
… must be able to work efficiently under the non-holonomic vehicle system model. An approximate method is applied to the tracked vehicle system ensuring both optimality and efficiency. Second, the motion planner should ensure robustness. For this, a robust incremental sampling based motion …
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A Hardware Architecture for GPS/INS-Enabled Wireless Sensor Networks
… using the Kalman filter for GPS/INS data fusion. Non-Holonomic Constraints derived velocity updates are applied to reduce the position errors. Field tests are conducted to verify the real-time performance of the proposed system with a positioning update rate of 20 Hz. The first test shows that the …
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Sampling-Based Motion Planning With Differential Constraints
… in path planning, solutions for kinodynamic and non-holonomic planning problems from classical methods could be either inexecutable or inefficient. Motion planning with differential constraints (MPD), which directly considers differential constraints, provides a promising direction to calculate …
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Dynamic Instabilities in Structures with Nonholonomic Constraints
… dependent restrictions, which are known as nonholonomic constraints. These constraints are applied to elastic structures, and their nonlinear dynamics are analyzed within the framework of bifurcation and stability theory. Initially, the stability of Ziegler's double pendulum is analyzed to …
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Optimal Indoor Positioning, Trajectory Reconstruction and Localisation with Uncertainty Control using Radio-Frequency Measurements
… observabilty analysis and localization for non-holonomic robots, using a combination of onboard sensors and range-only anchors. By using a discrete-time formulation of the system’s kinematics, we identify the geometric conditions that make the system globally observable and thereby derive …
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