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 28 for “"Path planning algorithms."”.
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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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Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method
Path planning purpose is to find a collision-free path in a defined environment from a starting point to a target point. It is one of the vital aspects in enhancing an autonomy of a robot. Cun·ent studies have been focused on developing path planning algorithms to satisfy the criteria of path …
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Optimal and receding-horizon path planning algorithms for communications relay vehicles in complex environments
This thesis presents new algorithms for path planning in a communications constrained environment for teams of unmanned vehicles. This problem involves a lead vehicle that must gather information from a set of locations and relay it back to its operator. In general, these locations and the lead …
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Stochastic Motion Planning for Applications in Subsea Survey and Area Protection
This dissertation addresses high-level path planning and cooperative control for autonomous vehicles. The objective of our work is to closely and rigorously incorporate classication and detection performance into path planning algorithms, which is not addressed with typical approaches found in …
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An augmented reality interface for multi-robot tele-operation and control
… to control multiple robots. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. A sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the …
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Design and development of an autonomous scaled electric combat vehicle
… From there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the …
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Intelligent control and path planning for unmanned aerial vehicles
… also poses some venues in the control and planning of UAVs that have not been fully explored. This thesis is devoted to the development of intelligent control and path planning algorithms tailored for UAVs. Firstly, the modeling of multi-rotor aerial vehicles is refined by using the …
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Design and Implementation of Intelligent Guidance Algorithms for UAV Mission Protection
… This intelligent algorithm integrates a set of path planning algorithms, a health monitoring system and a power estimation approach. Post-fault conditions are considered as unknown uncertainties that unmanned vehicles could encounter during regular operation missions. In this thesis, three main …
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Autonomous Vehicle Path Planning with Remote Sensing Data
Long range path planning for an autonomous ground vehicle with minimal a-priori data is still very much an open problem. Previous research has demonstrated that least cost paths generated from aerial LIDAR and GIS data could play a role in automatically determining suitable routes over otherwise …
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Predictive Path Planning For Vehicles at Non-signalized Intersections
In the context of path planning, the non-signalized intersections are always a challenging scenario due to the mixture of traffic flow. Most path planning algorithms use the information at the current time instance to generate an optimal path. Because of the dynamics of the non-signalized …
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Using Visual Abstractions to Improve Spatially Aware Nominal Safety in Autonomous Vehicles
… the safety force field, particularly affecting path planning capability. High spatial occupancy of obstacle configurations can impede easy maneuverability, thus challenging safety-critical modules like path planning. This paper aims to capture this by proposing a safety score that leverages the …
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UAV Simulation Environment for Autonomous Flight Control Algorithms
… aircraft models are available, with several path planning and trajectory tracking algorithms implemented. Emphasis is given to simulation of failures and other abnormal conditions, so that appropriate tools for failure detection, evaluation, and accommodation can be designed. The development …
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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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Guidance and Control System for VTOL UAVs operating in Contested Environments
… we perform a comparison of the LPA* and A* path planning algorithms with a custom heuristic that enables reckless or tactical maneuvers as the UAV maps the environment. For trajectory planning, the fMPC algorithm is applied to the feedback-linearized equations of motion of a quadcopter. For …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
State of the art sample-based path planning algorithms, such as the Rapidly-exploring Random Tree (RRT), have proven to be effective in path planning for systems subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the …
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Robust multi-UAV planning in dynamic and uncertain environments
… and civilian applications. New methods in planning and execution are required to coordinate these vehicles in real-time to ensure maximal efficiency of the team activities. These algorithms must be fast to enable rapid replanning in a dynamic environment. The planner must also be robust to …
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Real-Time Roadway Mapping and Ground Robotic Path Planning Via Unmanned Aircraft
… details the development of computer vision and path planning algorithms in order to map an area via UAV aerial imagery and aid a UGV in navigating a roadway when the road conditions are not previously known (i.e. disaster situations). Feature detection was used for transform calculation and …
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Autonomous UAV Navigation and Path Planning for Civil Infrastructures Inspection and Structural Health Monitoring
The problem of path planning is a crucial area of exploration in unmanned aerial vehicles (UAVs) that seek to find the best route from the origin to the destination. Despite a large body of research in this field, issues persist in identifying and locating targets due to the high mobility of UAVs. …
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Autonomous aggressive driving: theory & experiments
… We then focus on the optimal decision making, path planning and control design problems for highway overtaking and off-road autonomous rally racing, respectively. We propose to use a stochastic MDP for highway traffic modeling. The new concept of ``dynamic cell'' is introduced to dynamically …
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High-Dimensional Motion Planning and Learning Under Uncertain Conditions
Many existing path planning methods do not adequately account for uncertainty. Without uncertainty these existing techniques work well, but in real world environments they struggle due to inaccurate sensor models, arbitrarily moving obstacles, and uncertain action consequences. For example, picking …
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