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 42 for “"Unmanned Ground Vehicle"”.
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Multispectral Image Labeling for Unmanned Ground Vehicle Environments
… image labeling system with emphasis on Unmanned Ground Vehicles(UGVs). UGVs operating in unstructured environments face significant problems detecting viable paths when LIDAR is the sole source for perception. Promising advances in computer vision and machine learning has shown that …
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Sensor Fusion and Obstacle Avoidance for an Unmanned Ground Vehicle
… years, the capabilities and potential value of unmanned autonomous systems (UAS) to perform an extensive variety of missions have significantly increased. It is well comprehended that there are various challenges associated with the realization of autonomous operations in complex urban …
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Autonomous Racing and Overtaking for the Voyager Unmanned Ground Vehicle
… control (MPCC) system for a differential-drive unmanned ground vehicle (UGV) to perform autonomous racing and dynamic obstacle avoidance. Two obstacle-avoidance formulations are evaluated separately under matched scenarios: (i) a cost-function (soft) penalty on vehicle–to–obstacle proximity and …
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Design for manufacturing analysis on the Small Unmanned Ground Vehicle
iRobot is responsible for delivering the Small Unmanned Ground Vehicle (SUGV) as part of the U.S. Army's Future Combat Systems (FCS) initiative. With increasing external competition and pressures, iRobot must deliver an innovative robot while reducing costs, improving quality, and shortening the …
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Online Unmanned Ground Vehicle Mission Planning using Active Aerial Vehicle Exploration
This work presents a framework for the exploration and path planning for a collaborative UAV and UGV system. The system is composed of a UAV with a stereo system for obstacle detection and a UGV with no sensors for obstacle detection. Two exploration algorithms were developed to guide the …
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Design and development of advanced control techniques for an unmanned ground vehicle
… progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are …
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Cooperative Collision Avoidance for the Voyager Unmanned Ground Vehicle: Practical Implementation and Demonstration
… project adapts approaches proposed by Hughes for unmanned aerial vehicles and adapts and practically implements them on the physical Voyager robot. The system’s motion planning was split into a global planner, focused on finding a long-term route between the vehicle’s start position and a given …
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Smart Power Module for Distributed Sensor Power Network of an Unmanned Ground Vehicle
… improvements of modern conversion elements. Unmanned ground vehicles (UGVs) is an application where efficiency can be crucial in extending tight power budgets. In autonomous ground vehicles, geographic diversity with regard to sensor location is inherent because sensor orientation and …
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The further research, development and design of a Robotic Unmanned Ground Vehicle Platform for Urban Search Rescue
… research, development and design of a Robotic Unmanned Ground Vehicle (UGV) Platform for use in Urban Search And Rescue (USAR). The platform depicted in the figure 0.1 is dubbed Ratel (the Afrikaans name for honey badger) and it is the 5th generation UGV developed in the Robotics and Agents …
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Design and Simulation of Passive Thermal Management System for Lithium-Ion Battery Packs on an Unmanned Ground Vehicle
… 48 volt, lithium-ion battery pack for an unmanned ground vehicle was simulated with ANSYS Fluent. Heat generation rates and specific heat capacity of a single cell were experimentally measured and used as input to the thermal model. A heat generation load was applied to each battery and …
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Computationally Efficient Methods for Detection and Localization of a Chirp Signal
… and be used to provide a heading to an Unmanned Ground Vehicle.
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Underslung Payload Tension Control from an Autonomous Unmanned Helicopter
… control algorithm for the deployment of a unmanned ground vehicle from an autonomous helicopter is designed and tested in this thesis. The physical hardware which the controller will run on is detailed. The plant model and underlying controllers are derived and modeled. The tension …
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High Speed Navigation of UGVs in Rough Unknown Terrains
… of rough a priori unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not …
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Hardware Testbed for Relative Navigation of Unmanned Vehicles Using Visual Servoing
Future generations of unmanned spacecraft, aircraft, ground, and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control …
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Vision-Aided Navigation for Autonomous Vehicles Using Tracked Feature Points
… an image capture device (camera) mounted on a ground robot and a quadrotor UAV. The vision-aided navigation algorithms are implemented on data-collected from sensors on an unmanned ground vehicle and a quadrotor, and the results are validated by comparison with GPS data. The thesis investigates …
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Development of a robotic platform for the exploration of hazardous environments
… design, manufacturing, and testing of an Unmanned Ground Vehicle (UGV) robotic platform. Robotic pjatbrms such as these are typically used as Urban Search and Resue (USAR) platforms, as in the World Trade Tower collapses in 2001, however this platform was designed to be a general purpose …
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Design of a Teleoperated Rock Sampling System
… farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and …
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Software Simulation of an Unmanned Vehicle Performing Relative Spacecraft Orbits
The challenge of sensing relative motion between vehicles is an important subject in the engineering field in recent years. The associated applications range from spacecraft rendezvous and docking to autonomous ground vehicle operations. The focus of this thesis is to develop the simulation tools …
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Hazard avoidance for high-speed rough-terrain unmanned ground vehicles
High-speed unmanned ground vehicles have important applications in rough-terrain. In these applications unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on …
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Autonomous Convoy Study of Unmanned Ground Vehicles using Visual Snakes
Many applications for unmanned vehicles involve autonomous interaction between two or more craft, and therefore, relative navigation is a key issue to explore. Several high fidelity hardware simulations exist to produce accurate dynamics. However, these simulations are restricted by size, weight, …
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