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 120 for “"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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A generalized machine requirements planning algorithm for serial flow machining systems
The machine requirements planning problem is one which is applicable throughout the manufacturing industry. The use of automation and computer technology makes the use of machine requirements modelling particularly attractive, and the vast capital investment in machining equipment offers …
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A microcomputer-based budget allocation and planning algorithm for interdependent projects
A budget allocation and planning algorithm was developed for the economic evaluation of interdependent projects. Projects may be characterized by discrete point estimates or by continuous functions. The unique approach of this algorithm is that, if continuous functions are used, the analyst may …
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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 in …
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Robust randomized trajectory planning for satellite attitude tracking control
… strategy that uses a randomized trajectory planning algorithm in a closed-loop fashion to provide robust motion planning and execution. By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can autonomously maneuver through …
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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. Traditional …
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Implementation Of Path Planning Methods To Detect And Avoid GPS Signal Degradation In Urban Environments
… environment and are used as part of the path planning algorithm to provide better navigation strategies. This thesis aims to provide an implementation of A* algorithm in combination with RRT* path planning algorithm to detect and avoid areas with degraded GPS signals. The trajectory generation …
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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 trajectory …
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Managing risk in premium fruit and vegetable supply chains
Production planning in premium fresh produce supply chains is challenging due to the uncertainty of both supply and demand. A two-stage planning algorithm using mixed integer linear programming and Monte Carlo simulation is developed for production planning in the case of a premium branded tomato. …
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BOLTZMANN ENTROPY FOR UNDERSEA TERRAIN AIDED NAVIGATION
… 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
… 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 into …
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Operational planning for multiple heterogeneous unmanned aerial vehicles in three dimensions
… integrate each vehicle's capabilities when planning the operations. This thesis focuses on planning operations for multiple, heterogeneous UAVs for the purpose of monitoring Earth's phenomena through data collection. The planning is done for flight in three dimensions. The problem also …
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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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Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H -Infinity Techniques
This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback. The basic motion planning algorithm uses cubic splines or Pythagorean hodograph …
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Planning in information space for a quadrotor helicopter in a GPS-denied environment
… becoming lost. My research focuses on how path-planning can be performed to minimize localization uncertainty, and works towards developing a motion-planning algorithm for a quadrotor helicopter. As a starting point, I apply the Belief Roadmap (BRM) algorithm, an information-theoretic extension …
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Path Following using Frequency Modulated Continuous Wave millimetre-wave Automotive Radar
… 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 vehicle …
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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 of …
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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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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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