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 89 for “"Trajectory Planning"”.
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Safe trajectory planning of autonomous vehicles
… presents a novel framework for safe online trajectory planning of unmanned vehicles through partially unknown environments. The basic planning problem is formulated as a receding horizon optimization problem using mixed-integer linear programming (MILP) to incorporate kino-dynamic, obstacle …
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Optimal Control in Aircraft Trajectory Planning
Trajectory planning for autonomous and piloted aircraft must satisfy not only geometric constraints but also full six-degree-of-freedom dynamics, actuator limits, and mission- or safety-driven performance objectives. This thesis investigates optimal control as a refinement tool for …
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Trajectory planning in the presence of risk regions
… we address is to adjust a given k-legged trajectory to reduce exposure to threats. We also propose an algorithm to compute a k-legged risk-reduced path using a stage graph which runs in 0(m 2p) time where m is the number of vertices per turn region and p is the number of radar and obstacle …
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Automated trajectory planning for multiple-flyby interplanetary missions
Many space mission planning problems may be formulated as hybrid optimal control problems (HOCP), i.e. problems that include both real-valued variables and categorical variables. In interplanetary trajectory design problems the categorical variables will typically specify the sequence of planets at …
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Decentralized Multiagent Trajectory Planning in Real-World Environments
… aerial vehicle (UAV) applications, multiagent trajectory planning plays an indispensable role. The applications encompass search and rescue missions, surveillance, package delivery, and more. Each of these scenarios necessitates intricate coordination amongst multiple UAVs, driving the need for …
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Neuromorphic Systems for Pattern Recognition and Uav Trajectory Planning
… Vehicles (UAV), this thesis presents a two-level trajectory planning framework for UAVs in an indoor environment. A sequence of waypoints is selected at the higher-level, which leads the UAV from its current position to the destination. At the lower-level, an optimal trajectory is generated …
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Neuromorphic Systems For Pattern Recognition And Uav Trajectory Planning
… Vehicles (UAV), this thesis presents a two-level trajectory planning framework for UAVs in an indoor environment. A sequence of waypoints is selected at the higher-level, which leads the UAV from its current position to the destination. At the lower-level, an optimal trajectory is generated …
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Distributed game-theoretic trajectory planning for multi-agent interactions
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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Boost through reentry trajectory planning for maneuvering reentry vehicles
New trajectory planning concepts are explored for rapidly planning a long range, boost-through- reentry mission, using a lightweight, highly maneuverable reentry vehicle. An Aimpoint Map, a set of all possible piercepoints through which a boost-through-reentry trajectory can be flown to a fixed …
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Robust randomized trajectory planning for satellite attitude tracking control
… a novel guidance 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 …
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Trajectory Planning for Flights in Multiagent and Dynamic Environments
While efficient and fast trajectory planners in static worlds have been extensively proposed for UAVs (Unmanned Aerial Vehicles), a 3D real-time planner for environments with static obstacles, dynamic obstacles, and other planning agents still remains an open problem. The dynamic nature of these …
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Spacecraft Trajectory Planning for Optimal Observability using Angles-Only Navigation
… optimal range observability maneuvers and trajectory planning methods for spacecraft under constrained relative motion. The resulting contribution is a guidance method for impulsive rendezvous and proximity operations valid for elliptic orbits of arbitrary eccentricity.</p> <p>The system …
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Optimal joint trajectory planning for a robot with elastic links
The optimal joint angle trajectory planning of light-weight flexible manipulator is investigated based on the cycloidal motions of each joint. The objective of the optimization is the minimization of link tip vibrations during and after joint motion, and the design variables are the inflection or …
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Online trajectory planning for UAVs using mixed integer linear programming
This thesis presents a improved path planner using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem for unmanned aerial vehicles (UAV's). Using MILP, hard constraints for obstacle and multi-vehicle avoidance as well as an approximation of vehicle dynamics are …
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Aircraft command interface for a real-time trajectory planning system
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1988.
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Trajectory planning for unmanned vehicles using robust receding horizon control
This thesis presents several trajectory optimization algorithms for a team of cooperating unmanned vehicles operating in an uncertain and dynamic environment. The first, designed for a single vehicle, is the Robust Safe But Knowledgeable (RSBK) algorithm, which combines several previously published …
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Robust trajectory planning for unmanned aerial vehicles in uncertain environments
… dramatically improved.This thesis develops a UAV trajectory planner to efficiently identify and execute trajectories which are robust to a complex, uncertain environment. This planner, named Efficient RSBK, integrates previous mixed-integer linear programming (MILP) path planning algorithms with …
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Surrogate Neural Networks for Efficient Simulation-based Trajectory Planning Optimization
… of simulation-based optimization of a reference trajectory. Simulation-based optimization is necessary when there is no analytical form of the system accessible, only input-output data that can be used to create a surrogate model of the simulation. Like many high-fidelity simulations, this …
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Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot
… zero-attitude displacement by the end of the trajectory. Three common pseudospectral optimal control tools are used to develop the trajectories, and the optimality of each solution is assessed using well-established validation techniques. The second phase addresses the compliant capture of a …
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