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 27 for “"Optimal Path Planning"”.
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Harvest-Time Optimal Path Planning in Dynamic Flows
… of these vehicles, efficient methods for path planning are critical. Path planning, in the most general sense, corresponds to a set of rules to be provided to an autonomous robot for navigating from one configuration to another in some optimal fashion. Increasingly, having autonomous …
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Sampling-based algorithms for optimal path planning problems
Sampling-based motion planning received increasing attention during the last decade. In particular, some of the leading paradigms, such the Probabilistic RoadMap (PRM) and the Rapidly-exploring Random Tree (RRT) algorithms, have been demonstrated on several robotic platforms, and found applications …
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Energy-time optimal path planning in strong dynamic flows
… methodology that predicts time-energy optimal paths for autonomous vehicles navigating in dynamic environments. The differential equations solve the multi-objective optimization problem of navigating a vehicle autonomously in a dynamic flow field to any destination with the goal of …
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Asymptotically optimal path planning and surface reconstruction for inspection
… parts of the inspection problem are (1) path planning and (2) surface reconstruction. On the first problem, we develop a novel analysis of asymptotic optimality of control-space sampling path planning algorithms. This analysis demonstrated that asymptotically optimal path planning for any …
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Reachability prediction and optimal path planning for autonomous ocean vehicles
… aircraft is rapidly increasing. Creating time-optimal navigation routes for these vehicles has wide-ranging applications, including ocean data collection, transportation and distribution of goods, naval operations, search and rescue, detecting marine pollution, ocean cleanup, conservation, and …
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Energy optimal path planning using stochastic dynamically orthogonal level set equations
… and rigorous methodology that can predict energy-optimal paths from among all time-optimal paths to complete an underwater mission. For this, we develop rigorous a new stochastic Dynamically Orthogonal Level Set optimization methodology. In our thesis, after a review of existing path planning …
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Three-dimensional time-optimal path planning in dynamic and realistic environments
… of currents may vary greatly with depth. Hence, path planning to generate safe and fast vehicle trajectories in such a three-dimensional environment becomes crucial for the successful operation of these vehicles. In addition, many marine vehicles can only move in specific directions and with a …
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Time-Optimal Path Planning in the Portugal-Azores-Madeira Ocean Region
… rapidly increasing. The challenge of creating an optimal navigation route between departure and destination points for these vehicles has many applications, including ocean data collection, transportation and distribution of goods, naval operations, search and rescue, marine pollution, ocean …
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Optimal path planning for detection and classification of underwater targets using sonar
… in this dissertation focuses on choosing an optimal path for performing sequential detection and classification state estimation to identify potential underwater targets using sonar imagery. The detection state estimation falls under the occupancy grid framework, modeling the relationship …
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Optimal path planning and high level control of an autonomous gliding underwater vehicle
… as time efficiency concerns. A solution to the optimal path for a typical glider vehicle was sought in a simulated environment without vehicle dynamics considerations, where the minimization criteria were time and energy required to travel between two waypoints. Dynamic programming, analytic …
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Time-optimal path planning in uncertain flow fields using stochastic dynamically orthogonal level set equations
Path-planning has many applications, ranging from self-driving cars to flying drones, and to our daily commute to work. Path-planning for autonomous underwater vehicles presents an interesting problem: the ocean flow is dynamic and unsteady. Additionally, we may not have perfect knowledge of the …
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High-Dimensional Optimal Path Planning and Multi-Timescale Lagrangian Data Assimilation in Stochastic Dynamical Ocean Environments
… and make decisions under uncertainty, all in optimal integrated fashion and over long duration, persistently adapting to and sustainably utilizing the ocean environment. The ocean is a prime example of multiscale nonlinear multidisciplinary and strongly coupled dynamics where measurements of …
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Time-optimal path planning for sea-surface vehicles under the effects of strong currents and winds
A path-planning methodology that takes into account sea state fields, specifically wind forcing, is discussed and exemplified in this thesis. This general methodology has been explored by the Multidisciplinary Simulation, Estimation, and Assimilation Systems group (MSEAS) at MIT, however this is …
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Flight Vehicle Control and Aerobiological Sampling Applications
… transport process. In this work flight vehicle path planning, control and coordination strategies are considered for unmanned autonomous aerial vehicles. A time-optimal path planning algorithm, that is simple enough to be solved in real time, is derived based on geometric concepts. The method …
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Path planning and adaptive sampling in the coastal ocean
… operate in complex dynamic environments, the planning of paths and the collection of observations are basic, indispensable problems. In the oceanic and atmospheric environments, the concurrent use of multiple mobile sensing platforms in unmanned missions is growing very rapidly. Opportunities …
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RAPID UNIFIED HMI AND PHYSICAL AGENT DEVELOPMENT FRAMEWORK FOR A CLASS OF CYBER PHYSICAL SYSTEM
… supervisory control of mobile robotic system and optimal path planning 3. System analysis, design, and integration for legacy subsystem 4. System analysis, design, and integration for real-time traffic sign detection
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Path planning methods for Autonomous Underwater Vehicles
… of autonomous underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demonstrate an efficient underwater path planning algorithm based on the level set method. Specifically, the goal is to compute the …
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Simulations and Control of Artificial Microswimmers in Blood
… in free space, we derive control mechanisms and optimal path planning strategies to stir independently multiple ABFs with uniform magnetic fields. The method relies on reinforcement learning and is robust to thermal noise and background flow perturbations. We then consider ABFs swimming through …
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Development of control and autonomy algorithms for docking to complex tumbling satellites
… however, none has demonstrated online path planning in-space necessary for safe automated docking. Particularly, when a docking mission is sent to service an uncooperative spacecraft that is freely tumbling. In order to safely maneuver about an uncontrolled satellite, an online …
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Time-optimal multi-waypoint mission planning in dynamic flow fields
… the use of exact equations to predict time-optimal mission plans for a marine vehicle that visits a number of locations in a given dynamic ocean current field. The missions demonstrated begin and end in the same location and visit a finite number of locations or waypoints in the minimal …
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