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 96 for “"ground vehicles"”.
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Text Localization for Unmanned Ground Vehicles
Unmanned ground vehicles (UGVs) are increasingly being used for civilian and military applications. Passive sensing, such as visible cameras, are being used for navigation and object detection. An additional object of interest in many environments is text. Text information can supplement the …
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Modelling and control of unmanned ground vehicles
The thesis focuses on issues of vehicle modelling incorporating wheel-terrain interaction and low-level control design taking into account uncertainties and input time delay. Addressing these issues is of significant importance in achieving persistent autonomy for outdoor UGVs, especially when …
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Pipe Inspection Automation with Mobile Ground Vehicles
The goal of this research is to develop a series of mobile robotics projects for inspection of infrastructure to release humans of dirty, dangerous and dull tasks and give them more time to think and to create. To achieve this, one should consider the design of two different elements which are …
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Localization for teams of autonomous ground vehicles
… a localization engine for a fleet of autonomous ground robots using ultra-wideband (UWB) beacons in concert with the robots’ on-board IMUs and encoders. The error observed from the uncorrected UWB ranges was quantified for line-of-sight conditions, and a calibration procedure was developed and …
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A Prototype Polarimetric Camera for Unmanned Ground Vehicles
Unmanned ground vehicles are increasingly employing a combination of active sensors such as LIDAR with passive sensors like cameras to perform at all levels of perception, which includes detection, recognition and classification. Typical cameras measure the intensity of light at a variety of …
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Mission Aware Energy Saving Strategies For Army Ground Vehicles
… fuel consumption. Military readiness of Army ground vehicles is very important for a country to protect its people and resources. Fuel energy is a major requirement for Army ground vehicles. According to a report, a department of defense has spent nearly $13.6 billion on fuel and electricity …
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Design and control of miniature air-and-ground vehicles
… the design and control of two miniature air-and-ground vehicles, the "Flying Monkey" and the "Flying Car." The Flying Monkey was developed to demonstrate the viability and utility of miniature air-and-ground vehicles. The final design weighs 30g yet is capable of crawling, grasping, and flying. …
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A Proposed Standardized Testing Procedure for Autonomous Ground Vehicles
Development of unmanned vehicles will increase as the need to save lives rises. In both military and civilian applications, humans can be taken out of the loop through the implementation of safe and intelligent autonomous vehicles. Although hardware and software development continue to play a large …
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Arc Path Collision Avoidance Algorithm for Autonomous Ground Vehicles
… robots entered in the 2003 and 2004 Intelligent Ground Vehicle Competition (IGVC) and on our 2004 entry into the DARPA Grand Challenge. The arc path model was used because of the simplicity of the calculations and because it can accurately represent the base kinematics for Ackerman or …
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Perception and mapping for unmanned ground vehicles in unstructured environments
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2026-12-01
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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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Avionics systems design for cooperative unmanned air and ground vehicles
… intended for use onboard unmanned air and ground vehicles, that are parts of a multi-vehicle system whose primary mission objective is to provide up-close surveillance capability from a large stand-off distance. Different types of cooperative action between air and ground vehicles, that can …
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Constraint-based navigation for safe, shared control of ground vehicles
… workload of 20 drivers teleoperating an unmanned ground vehicle through an outdoor obstacle course. In 1,200 trials, the constraint-based framework developed in this thesis is shown to increase vehicle velocity by 26% while reducing the occurrence of collisions by 78%, improving driver reaction …
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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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Active Drag Reduction of Ground Vehicles Using Air-Jet Wheel Deflectors
<p>Seven turbulence models were used to simulate the flow within the wheelhouse of a simplified vehicle body. The performance of each model was evaluated by comparing the aerodynamic coefficients obtained using computational fluid dynamics (CFD) to data collected from wind tunnel experiments. The …
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Ground Vehicles and Ranging Sensors: Structural Properties for Estimation and Control
… we address the constructibility problem for a ground vehicle moving across an environment instrumented with ranging sensors. When the measurements collected by the vehicle along the trajectory are sufficiently informative, the global constructibility property is achieved and the vehicle is able …
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Path Planning for Unmanned Air and Ground Vehicles in Urban Environments
… vehicle systems, specifically unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs), have become a popular research topic. This thesis discusses the potential of a UAV-UGV system used to track a human moving through complex urban terrain. This research focuses on path planning …
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Cooperative Perception in Autonomous Ground Vehicles using a Mobile Robot Testbed
With connected and autonomous vehicles, no optimal standard or framework currently exists, outlining the right level of information sharing for cooperative autonomous driving. Cooperative Perception is proposed among vehicles, where every vehicle is transformed into a moving sensor platform that is …
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Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles
… (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field testing. Developing this platform will enhance the U. S. Army Engineering …
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Development of vibration loading profiles for accelerated durability tests of ground vehicles
… an important part for design and manufacturing ground vehicles. It consists of test designed to quantify the life characteristics of a ground vehicle component under normal use conditions by testing the unit at higher stress levels to accelerate the occurrence of failures. The challenge of …
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