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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 65 for “"path following"”.
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Path following robot
Given a desired path to be followed by a Robot, a set of commands must be given to the Robot joint servos so that the Robot Tip, or Endpoint, can follow that path. These commands must be synchronized in time and scaled so as to maintain accuracy in the presence of possible saturations in the …
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Non-interior path-following methods for complementarity problems
… excellent numerical performance, non-interior path following methods (also called smoothing methods) have become an important class of methods for solving complementarity problems. However, no rate of convergence results are available for these methods. In this thesis, we bridge this gap …
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Feedback Control for a Path Following Robotic Car
… exhibit. This thesis also gives details of the path following lateral controller implemented on the FLASH car. The controller was developed using the kinematic model for a wheeled robot. The global model is converted into the path coordinate model so that only local variables are needed. then …
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Path following control system for a small autonomous vehicle
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
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Generalized Feedback Control and Application to Vehicle Path Following Control
In dieser Dissertation wird ein diskreter Regelungsansatz eingeführt und definiert als 'Generalized Feedback Control' (GFC). Im allgemeinen Sprachgebrauch wird 'Feedback Control' mit einem Regelungssignal in Verbindung gebracht, das proportional zu dem Fehler angesetzt wird, der zwischen einer …
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An infeasible-path-following algorithm for nonlinear multiobjective optimisation problems
… solutions in the neighbourhood of a central path and therefore, constitutes a path-following approach. We proof the convergence of our algorithm under certain assumptions and develop a warm-start strategy to compute different solutions for varying weighting parameters. Furthermore we examine …
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Path Following using Frequency Modulated Continuous Wave millimetre-wave Automotive Radar
… methodology, and experimental validation of a path planning algorithm developed to only use Frequency Modulated Continuous Wave (FMCW) radar. Radar has shown to be semi-invariant to inclement weather such as snow, fog, extremely lighting conditions, and heavy rain. Traditionally, autonomous …
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Time-critical cooperative path-following control of multiple unmanned aerial vehicles
Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-05-20T14:37:32Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 XargayMata_Enric.pdf: 5730986 bytes, checksum: d3f45e9c7a0279014a7d7f0047cefc77 (MD5)
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High performance path following for marine vehicles using azimuthing podded propulsion
… and stable manner. This thesis focuses on the path following performance of a vessel with podded propulsion. The enhanced maneuvering abilities of such vessels allow the time constant of cross-track error response to be greatly reduced. Additionally these vessels can follow course changes and …
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A minimum time response scheme for specified accuracy, path following robot manipulators
Thesis: M.S., Massachusetts Institute of Technology, Department of Mechanical Engineering, 1987
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Adaptive Path Following of the Biomorphic Hyper-Redundant Snake Robot in Unconstructed Environment
… for a class of snake robots and implemented pathfinding and following, which is the challenging and practical problem in control of snake robots. In this dissertation, we first investigate straight line path-following problems for a class of planar underactuated snake robots. For this …
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Linear Parameter Varying Path Following Control of a Small Fixed Wing Unmanned Aerial Vehicle
… controllers were devised based on this model for path following, including a self-scheduled linear parameter-varying (LPV) controller with path curvature as a scheduling parameter. The robustness and performance of these controllers were tested in a rigorous MATLAB simulation environment that …
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Rollover prevention and path following of a scaled autonomous vehicle using nonlinear model predictive control
Vehicle safety remains an important topic in the automotive industry due to the large number of vehicle accidents each year. One of the causes of vehicle accidents is due to vehicle instability phenomena. Vehicle instability can occur due to unexpected road profile changes, during full braking, …
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Cooperative Control of Miniature Air Vehicles
… flight include information transfer, real time path planning, and maintenance of a fleet of flight-worthy MAVs. Additional challenges associated with timing missions include path following and velocity control. Two timing scenarios were studied and both of these scenarios were flight tested. The …
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Design and control of an origami-enabled soft crawling autonomous robot (OSCAR)
… robots require robust design methods, as well as path following and path planning algorithms, to mitigate these uncertainties and enable autonomy. This dissertation develops and implements autonomous navigation for a novel origami-enabled soft crawling autonomous robot called OSCAR. In order to …
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Design and development of an autonomous navigation system for an omni-directional four-wheeled mobile robot
… in a collision-free manner, along predefined paths in indoor structured office or factory-like environments. The navigation system is composed of four integrated subsystems: localization, path- following, velocity control, and obstacle detection. The path-following subsystem is responsible for …
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Remote Terrain Navigation for Unmanned Air Vehicles
… and urban navigation missions included reactive path following, sensor noise, and flight test design and execution. The main challenge was for an SUAV to successfully navigate through a mountainous canyon by reactively altering its own preplanned path to avoid canyon walls and other stationary …
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SPACE-CONSTRAINED AUTONOMOUS REVERSING OF ARTICULATED VEHICLES
… good agreement with simulation results. Previous path following control methods for autonomous reversing of LCVs have focussed on minimising the tracking error between the rear-end of the combination and a desired path, irrespective of the motion of the rest of the vehicle. A significant …
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Brake-Actuated Steering of Heavy Goods Vehicles
… design. The BAS controller implements a path-following steering control (PFC) strategy to determine the steering demands for the trailer axles. An inner-loop steering controller is devised to control the steer angles. Simulations of various steering-control strategies are presented. It is …
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