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 77 for “"Trajectory generation"”.
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Topics in Trajectory Generation for Robots
… of motion as a function of time, namely the trajectory. As we discuss in this thesis, a trajectory can be acquired from a human demonstration or generated by carefully designing an objective function. In the first approach, we examine a number of robotic setups which are suitable for human …
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Piecewise Bézier curve trajectory generation and control for quadrotors
… quadrotor. This thesis presents an approach for trajectory generation and control that can harness the complete dynamics of the quadrotor to achieve efficient navigation in cluttered spaces. First, the equations of motion for a quadrotor model is derived. It is also shown that the quadrotor …
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Implementation Issues of Real-Time Trajectory Generation on Small UAVs
… in the transition from the theory of real-time trajectory generation all the way through a hardware experiment. Documentation of the validation process as well as modifications to the existing theory as a result of hardware testing are treated at length. The results of hardware experimentation …
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Low altitude threat evasive trajectory generation for autonomous aerial vehicles
… scenarios; therefore, an on-line vehicle trajectory planner is desired in order to maximize vehicle survivability. This thesis presents a genetic algorithm based threat evasive response trajectory planner capable of explicitly leveraging terrain masking in minimizing threat exposure. The …
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Safety-Aware Trajectory Generation for Increased Autonomy in Advanced Air Mobility
… unfeasible.</p> <p>This thesis presents a trajectory generation and replanning framework designed to maintain safe and feasible flight under reduced flight envelope conditions for a lift+cruise eVTOL aircraft. A unified control architecture based on incremental nonlinear dynamic inversion …
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On-Board Artificial Intelligence for Failure Detection and Safe Trajectory Generation
… range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the …
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Real-time quasi-analytical trajectory generation for docking with tumbling objects
… plume impingement, and allows for real-time generation of trajectories with low computational expense. Several test cases compare the solution from this algorithm against a solution using pseudospectral methods and show similar performance at less than 0.1% computational cost, and an example …
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Multi-fidelity Optimal Trajectory Generation: Optimal Experiment Design for Robot Learning
… battery voltage fluctuations often compromise trajectory reliability, even when conforming to ideal dynamics. However, the typical data-driven methods are usually developed in simulated environments. Consequently, the transition to real-world dynamics requires extensive fine-tuning, which can …
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A Low-Complexity Algorithm for Trajectory Generation in the Three-Body Problem
… is an escalating need for efficient methods of trajectory generation in this multi-body dynamical system for computationally limited systems. Thus, a low-complexity classical algorithm is proposed to achieve accurate orbital trajectories in the three-body problem. The proposed algorithm solves a …
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Advanced four-dimensional trajectory generation for tactical guidance of unmanned aerial vehicles
A strategy is presented for the real-time generation of tactical, dynamically feasible 4D trajectories. The current framework for automatic flight control is analysed, along with current research into autonomous unmanned systems, to develop a technique for trajectory generation that not only works …
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Optimized Trajectory Generation for Car-Like Robots on a Closed Loop Track
<p>This thesis presents a method for generating an optimized path through a given track. The path is generated by choosing waypoints throughout the track then iteratively optimizing the position of these waypoints. The waypoints are then connected by optimized paths represented by curvature …
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Onboard trajectory generation for the unpowered landing of autonomous Reusable Launch Vehicles
Onboard trajectory generation dispenses with the pre-defined trajectories used. in Reusable Launch Vehicle (RLV) guidance since the early days of the Shuttle era. This shift, enabled by a new breed of algorithms harnessing modern computer power, offers improvements in performance, robustness, …
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Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces
… skilled operators. This research presents a trajectory generation algorithm that is capable of autonomously applying shotcrete to unknown surface geometries. The trajectory generation algorithm can also be used to perform radiation scanning with the use of a previously developed tool changer. …
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Distributed cooperative trajectory generation for multiple autonomous vehicles using Pythagorean Hodograph Bézier curves
… presents a framework for multi-vehicle trajectory generation that enables efficient computation of sets of feasible, collision-free trajectories for teams of autonomous vehicles executing cooperative missions with common objectives. Existing methods for multi-vehicle trajectory …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
<p>This work presents several trajectory generation algorithms for multibody robotic systems based on the Product of Exponentials (PoE) formulation, also known as screw theory. A PoE formulation is first developed to model the kinematics and dynamics of a multibody robotic manipulator (Sawyer …
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UAS planning and trajectory generation for safe and long-duration oceanic and coastal missions.
La presente tesis doctoral, muestra el diseño de un sistema para la extensión de la duración de vuelo de sistemas autónomos no tripulados de tamaño pequeño. Este sistema fue diseñado en el contexto de misiones de vigilancia marítima y costera como parte del proyecto europeo MarineUAS. En este …
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A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints
We present a new trajectory generation algorithm for autonomous guidance and control of unmanned vehicles from a given starting point to a given target location. We build and update incomplete a priori maps of the operating environment in real time using onboard sensors and compute level sets on …
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A Third-order Differential Steering Robot And Trajectory Generation In The Presence Of Moving Obstacles
… will be used to implement a collision-free trajectory planning/replanning algorithm. The existence of a chained form transformation so that the robot's model can be control in canonical form will be analyzed and proved. A trajectory generation for obstacles avoidance will be derived, …
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