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 97 for “"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 multispectral …
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Automated Visual Database Creation For A Ground Vehicle Simulator
… from stereo video sequences taken from a moving vehicle. The proposed method combines color histogram based segmentation, active contours (snakes) and morphological processing to extract road boundary coordinates for conversion into Matlab or Multigen OpenFlight compatible polygonal …
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Ground Vehicle Navigation through Traversability Analysis of Outdoor Environments
Il presente lavoro di tesi riporta l'attività di ricerca condotta sul problema della navigazione di veicoli terrestri autonomi in ambienti outdoor non strutturati. Tali ambienti sono molto frequenti in un'ampia gamma di scenari applicativi, come la ricerca e il soccorso in caso di calamità, il …
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Features identification and tracking for an autonomous ground vehicle
… and tracking system for an autonomous ground vehicle by focusing on four fundamental tasks: Motion detection, object tracking, scene recognition, and object detection and recognition. For motion detection, we combined the background subtraction method using the mixture of Gaussian …
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Implication of Terrain Topology Modelling on Ground Vehicle Reliability
The accuracy of computer-based ground vehicle durability and ride quality simulations depends on accurate representation of road surface topology as an excitation to vehicle dynamics simulation software, since most of the excitation input to a vehicle as it traverses terrain is provided by the …
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Sensor Fusion and Obstacle Avoidance for an Unmanned Ground Vehicle
… the scene. The small size of some of these vehicles restricts the size, weight and power consumption of the sensor payload and onboard computational processing that can accommodated by UAS.</p> <p>This thesis analyzes the development and implementation of terrain mapping, path planning and …
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Autonomous Racing and Overtaking for the Voyager Unmanned Ground Vehicle
… (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 (ii) hard …
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Design for manufacturing analysis on the Small Unmanned Ground Vehicle
… 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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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… provided to the motors due the dynamics of the vehicle not accounted for. This causes the vehicle to derail from its intended trajectory at sharp turns. In this study, we start by adding dynamic behavior to the unicycle model to account for the varying dynamics of the vehicle. A backstepping …
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Autonomous Navigation of a Ground Vehicle to Optimize Communication Link Quality
… is developed that allows an autonomous ground vehicle to serve as an adaptive communication node in a larger network. The vehicle may perform other functions, but its primary role is to constantly reposition itself to maintain optimal link quality for network communication. …
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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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Development of an Automotive Ground Vehicle Platform for Autonomous Urban Operations
Autonomous ground vehicle operations, such as those found in the 2007 DARPA Urban Challenge, require a reliable and capable vehicle platform. To meet this requirement, an autonomous ground vehicle platform based on a 2005 Ford Escape Hybrid was developed for operations in urban environments. The …
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Reactive Navigation of an Autonomous Ground Vehicle Using Dynamic Expanding Zones
… highly maneuverable mobile robots. However, as vehicle speeds increase, Potential Fields becomes less effective at avoiding obstacles. The traditional shortcomings of the Potential Field approach can be largely overcome by using dynamically expanding perception zones to help track objects of …
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Design and development of advanced control techniques for an unmanned ground vehicle
… 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 crucial for …
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Cooperative Collision Avoidance for the Voyager Unmanned Ground Vehicle: Practical Implementation and Demonstration
… 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 goal position …
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Real-Time Ground Vehicle Parameter Estimation and System Identification for Improved Stability Controllers
Vehicle characteristics have a significant impact on handling, stability, and rollover propensity. This research is dedicated to furthering the research in and modeling of vehicle dynamics and parameter estimation. Parameter estimation is a challenging problem. Many different elements play into the …
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Accumulated Surfaces & Least-Cost Paths: GIS Modeling for Autonomous Ground Vehicle (AGV) Navigation
… part of any land navigation system. Autonomous ground vehicles should have access to stored geographic data and the ability to manipulate it for routing purposes. Since there is no human interaction involved in operating these vehicles, data that a human driver would use to make decisions must …
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Smart Power Module for Distributed Sensor Power Network of an Unmanned Ground Vehicle
… 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 placement are …
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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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Navigation of a high velocity tele-operated ground vehicle through an obstacle rich environment
… images in navigating an unmanned tele-operated ground vehicle through an obstacle rich environment. The obstacle courses contained many of the same types of elements that would exist in an urban setting. The corresponding a priori images depicted these obstacle courses but included some …
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