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 40 for “"Vehicle Trajectory"”.
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Dynamic Connected Automated Vehicle Trajectory and Traffic Signal Timing Optimization
… traffic signalized networks by optimizing both vehicle and traffic signal operations. From the vehicle side, the research develops a Green Light Optimal Speed Advisory (GLOSA) system also known as an Eco-Cooperative Adaptive Cruise Control system at intersections (ECO-CACC-I) for fixed and …
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Real-time identification for ground vehicle trajectory estimation using extended Kalman filter residual analysis
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.
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Toward autonomous harbor surveillance
… problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be …
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Crash avoidance by electronic stability control on Australian high speed rural roads: an analysis of braking interventions.
… Electronic Stability Control (ESC) to passenger vehicles. The greatest benefit to Australia is for crashes on high speed rural roads that occur due to a loss of control. An investigation of what variables in the South Australian statewide crash database are associated with high injury severity …
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Distributed cooperative trajectory generation for multiple autonomous vehicles using Pythagorean Hodograph Bézier curves
This dissertation 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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Mapping of complex marine environments using an unmanned surface craft
… formidable challenges to autonomous underwater vehicle (AUV) operations. In this thesis, we propose a new approach for mapping shallow water marine environments, combining data from both above and below the water in a robust probabilistic state estimation framework. The ability to rapidly …
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Toward autonomous underwater mapping in partially structured 3D environments
… from sonar data, and jointly optimizing the vehicle and plane positions as nodes in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM …
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Toward autonomous underwater mapping in partially structured 3D environments
… from sonar data, and jointly optimizing the vehicle and plane positions as nodes in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM …
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Computational Fluid Dynamic Solutions of Optimized Heat Shields Designed for Earth Entry
… the inverse cube of the base sharpness. Coupled vehicle/trajectory optimized designs are examined for lunar return (11 km/s) and Mars return (12.5 km/s) and show possible discrepancies for eccentric shapes using low-order empirical correlations. Ultimately, gains suggested by the low-order …
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Towards the improved robustness of acoustic cooperative localization
… the accuracy of an autonomous surface craft's trajectory estimate is explored. In experimental conditions, it is common to lose subframes of acoustic packets, or even entire packets during transmission. Since packets are often used to encode localization information of and range measurements to …
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Multi-fidelity Modeling and Reinforcement Learning for Energy Optimal Planning
… to predict the energy required to fly a given vehicle trajectory. The goal is to create an accurate energy prediction that minimizes the number of expensive high fidelity simulations required for training. The MFGP algorithm can incorporate many low accuracy samples from a simple motor model …
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Microscopic Control Delay Modeling at Signalized Arterials Using Bluetooth Technology
… Bluetooth traffic data synchronized with vehicle trajectory plot generated from GPS probe vehicle runs has been used to develop control delay models which has a potential to predict the control delays in real-time based on Bluetooth detection error parameters in field. Incorporating …
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A stochastic mesoscopic cell-transmission model for operational analysis of large-scale transportation networks
… cell lengths and non-discrete movements of vehicles between cells. In addition, implementation of lane-changing behavioral logics and algorithmic enhancements to model vehicle flows at network junctions demonstrate potential in modeling realistic non-homogeneous traffic streams in CTM. A …
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Low altitude threat evasive trajectory generation for autonomous aerial vehicles
In recent years, high altitude unmanned aerial vehicles have been used to great success in combat operations, providing both reconnaissance as well as weapon launch platforms for time critical targets. Interest is now growing in extending autonomous vehicle operation to the low altitude regime. …
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A Legendre Pseudospectral Method for rapid optimization of launch vehicle trajectories
A Legendre Pseudospectral Method for launch vehicle trajectory optimization, pro posed by Mike Ross and Fariba Fahroo of the Naval Postgraduate School, is presented and applied successfully to several launch problems. The method uses a Legendre pseudospectral differentiation matrix to discretize …
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A unified framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles
… of an active safety framework that performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. The vehicle navigation task is formulated as a constrained optimal control problem with the constraints bounding a navigable …
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Modeling lane-changing behavior in presence of exclusive lanes
… of the model are jointly estimated with detailed vehicle trajectory data and calibrated for a situation with unlimited access High Occupancy Vehicle (HOV) lane. Estimation results show that the target lane choice is affected by lane-specific attributes, such as average speed and density, variables …
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Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller
… the ability to avoid obstacles that are in the vehicle's path, without causing damage to the obstacle or car. There are three types of collision avoidance controllers, passive, active, and semi-active. This thesis is designed using active collision avoidance controllers. There are two …
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Eco-cooperative adaptive cruise control at multiple signalized intersections
Consecutive traffic signals produce vehicle stops and acceleration/deceleration maneuvers on arterial roads, which may increase vehicle fuel consumption levels significantly. Eco-cooperative adaptive cruise control (Eco-CACC) systems can improve vehicle energy efficiency using connected vehicle …
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Vehicle performance optimization utilizing the Air Turbo-Ramjet propulsion system; Methodology development and applications
… the benefits of ATR propulsion for tactical vehicles.</p> <p>ATR simulation codes were developed to support analysis of hypothetical ATR powered vehicles. Both turbojet powered and SRM powered vehicles were also evaluated against range and time of flight as the major evaluation criteria. This …
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