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 49 for “"Path Planning Algorithm"”.
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A Biomimetic, Energy-Harvesting, Obstacle-Avoiding, Path-Planning Algorithm for UAVs
… and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one …
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Energy efficient path planning: the effectiveness of Q-learning algorithm in saving energy
… investigated the use of a Q-learning based path planning algorithm to investigate how effective it is in saving energy. It is important to pursue any means to save energy in this day and age, due to the excessive exploitation of natural resources and in order to prevent drops in production …
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Data-driven Target Tracking and Hybrid Path Planning Methods for Autonomous Operation of UAV
… target tracking method and a distributed path planning algorithm for multiple Unmanned Aerial Vehicle (UAV) operations with local dynamic networks, which can provide flexible scalability, enabling autonomous operation of a large number of UAVs in dynamically changing environment. …
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Implementation Of Path Planning Methods To Detect And Avoid GPS Signal Degradation In Urban Environments
… to obstructions that cause scintillation, multi-path, and shadowing. These effects that decrease the GPS functionality can deteriorate the accuracy of GPS positioning causing losses in signal tracking leading to a decrease in navigation performance. These effects are modeled into the simulation …
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BOLTZMANN ENTROPY FOR UNDERSEA TERRAIN AIDED NAVIGATION
… Aided Navigation (UTAN) with respect to coverage path planning and creates a robust coverage path planning algorithm utilizing a new paradigm in configuration entropy. It highlights a classic challenge in the path planning problem between exploration and exploitation. Exploration ensures complete …
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Data driven low-bandwidth intelligent control of a jet engine combustor
… the flame will be in for the next measurement. A path planning algorithm is then discussed for planning an input trajectory from the current operating condition to the desired operating condition that avoids regions of instability or blow-out in the input space. An adaptive layer is incorporated …
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Cognitive UAS Path-Planning for Large Spatial Search
… used to their full potential. Some means of planning how to search the area must be developed, with the most basic means of accomplishing this task being creating a predefined path which is guaranteed to cover all known areas. To increase the rate of success and decrease necessary search …
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Path Following using Frequency Modulated Continuous Wave millimetre-wave Automotive Radar
… methodology, and experimental validation of a path planning algorithm developed to only use Frequency Modulated Continuous Wave (FMCW) radar. Radar has shown to be semi-invariant to inclement weather such as snow, fog, extremely lighting conditions, and heavy rain. Traditionally, autonomous …
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Path planning methods for Autonomous Underwater Vehicles
… 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 paths …
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Accelerating path planning algorithms with high level synthesis tools and FPGAs.
Accelerating path planning algorithms with field programmable gate arrays (FPGA) allows the designer to achieve significant performance increases over using a traditional central processing unit (CPU). Converting an algorithm to run on an FPGA is a complicated and time consuming process. This …
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Sensor Fusion and Obstacle Avoidance for an Unmanned Ground Vehicle
… and implementation of terrain mapping, path planning and control algorithms on an unmanned ground vehicle. Data from GPS, IMU and LIDAR sensors are fused in order to compute and update a dense 3D point cloud that is used by an implicit terrain algorithm to provide detailed mathematical …
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Closed-loop Tool Path Planning for Non-planar Additive Manufacturing and Sensor-based Inspection on Stationary and Moving Freeform Objects
… extruding material layer-by-layer using a tool path planning obtained from slicing programs by using CAD models as an input. Recently, there has been a growing interest in non-planar AM technologies, which offer the ability to fabricate multilayer constructs conforming to freeform surfaces. …
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Path planning for autonomous parafoils using particle chance constrained rapidly-exploring random trees in a computationally constrained environment
… random trees (PCC-RRT) is a sampling-based path-planning algorithm which uses particles to approximate an uncertainty distribution. In this thesis, we study the use of PCC-RRT on an autonomous parafoil. Specifically, we explore the behavior of PCC-RRT in a computationally constrained …
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A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion
… a new dynamically feasible trajectory generation algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path planning into a …
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3D Path Planning for Radiation Scanning of Cargo Containers
… 3D scan of the search area to input into a 3D path planning algorithm to generate a flight path that will sufficiently scan the search area while minimizing flight time. Coverage is a main area of concern, as well is computational complexity and time. In order to maintain security of the …
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Robotic and haptic assistance for kidney access during percutaneous nephrolithotomy
… further improve the procedure. A multi-objective path planning algorithm is implemented to generate multiple suitable paths for kidney access, from which an expert surgeon selects one for execution. The robotic agent then steers the tool along the path autonomously. A further advancement adds a …
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A fuzzy-logic controller for an autonomous vehicle operation in an unknown environment
… to survey the neighboring environment. A new path planning algorithm is developed that reduces the computational time while avoiding obstacles. The vehicle uses a fuzzy-logic controller to determine the corresponding change in steering. While fuzzy-logic controllers exhibit robustness under …
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Obstacle Detection and Avoidance System for Unmanned Aerial Vehicles Based on Monocular Camera
… onboard, controlled remotely or autonomously. Algorithms like YOLO (You Only Look Once) for object detection and pathfinding algorithms like A* (A-Star) can quickly navigate around large, static objects like buildings or trees. However, detecting small objects and handling dynamic aerial …
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Modelling movement through environments : giving characters a sense of where they are
… skills. or use implemented robotics algorithms. A path planning algorithm is available so characters can find a collision-free path when instructed to walk from one place to another. This is a first step towards goal-directed animation where animators will specify desired goals in …
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Stability and robustness analysis tools for marine robot localization and mapping applications
… tests form a set of tools which can be used in planning and evaluating the robustness of marine vehicle survey trajectories, which is demonstrated through experiment. An augmented A* kinodynamic path-planning algorithm is then implemented to search the control input space for the globally …
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