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 75 for “"potential field"”.
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Chebyshev spectral methods for potential field computation
… analytic formulation for the gravitational field of a homogeneous, polyhedral body to the potential. Numerical results show that the accuracy of the cell-average discretization is better than that of the point injection discretization. The multi-domain solution is the best. We apply the …
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An Extended Potential Field Controller for use on Aerial Robots
… on the design and implementation of an extended potential field controller (ePFC) which enables a quadcopter aerial robot to track a dynamic target while simultaneously avoiding obstacles in the environment. The design of the ePFC extends the foundational concepts of a traditional potential field …
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Potential field theory and its applications to classical mechanical problems
Advances in many scientific fields are expected to come from work in nanotechnology. Engineering at nano-scales presents novel problems that classical mechanics cannot solve. Many engineers are uncomfortable designing at this level because classical or continuum mechanics does not apply and quantum …
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A geologic and potential field investigation of the central Virginia Piedmont
… Seismic Zone. Detailed geologic mapping and potential field modeling shows that the character of the Piedmont gravity high is a result of both crustal thickness variation and density contrasts between the surficially exposed lithologies. Geologic, gravity and magnetic field modeling has …
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Distributed Potential Field Method for Cooperative Range-Only Localization in Multi-Robot Networks
… of the agents. This work introduces a potential field planner with an E Optimality force to minimize the impact of network configuration on localization when navigating between waypoints in pre-determined trajectories. For this work, the trajectories are generated by …
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Integration of potential field theory and proportional navigation theory to autonomously guide an unmanned aerial vehicle.
… UAVs, and developing a new method by combining potential fields, typically used for obstacle avoidance, and proportional navigation, a popular missile guidance algorithm. The new algorithm modifies the old algorithms to allow a UAV to track an optimal path to, and rendezvous with, a moving …
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Design of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeter
… These relative positions are used to create a potential field that results in an absolute minimum at the vehicles desired position. All vehicles are numbered sequentially. The numbering defines the order in which they will broadcast their data, as well as their position along the perimeter. …
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Reactive Navigation of an Autonomous Ground Vehicle Using Dynamic Expanding Zones
… approaches for off-road navigation. The Potential Field algorithm has been a popular reactive approach for low speed, highly maneuverable mobile robots. However, as vehicle speeds increase, Potential Fields becomes less effective at avoiding obstacles. The traditional shortcomings of the …
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Multi-robot cooperative surveillance in unknown environments
… problems, distributed algorithms such as potential field-based exploration, swarm intelligence exploration, landmark-based exploration, and hop-count gradient-oriented searching, are proposed. With respect to target tracking, an artificial potential field-based intelligent tracking …
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A study of a coordinated path planning strategy for a fleet of unmanned surface ships in the presence of static obstacles
… this study is to propose a new strategy to avoid potential collisions with static obstacles and each ship. In addition, the objective of the proposed strategy is to enable the fleet to autonomously change an initial formation shape into a safer formation shape when the fleet of the ships faces …
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Genetic Algorithms Optimized Potential Fields For Decentralized Group Tasking
… real-world applications. In this thesis, we use potential fields based on task and agent properties to control the movement of groups of agents and use a genetic algorithm (GA) to optimize potential field parameter values to lead to complex task achieving behaviors. More specifically, we control …
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Path planning using the Newtonian potential
Potential functions are used to represent the topological structure of free space in solving path planning problems because of the simplicity in the free space representation and the guidance provided by the negative gradient of the potential field in the form of repulsive forces. In this thesis, a …
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Nonholonomic Feedback Control Among Moving Obstacles
… systems control based on sliding modes and potential field methods.</p>
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Space charge resulting from imperfections and effects thereof in ionic crystals
… neutrality is a consequence of the presence of potential fields beneath the surfaces and around edge dislocations. These potential fields~ resulting from imperfection space charge~ modi,fy the innate free formation energies of the defects in a manJ:!ier such that bulk electrical neutrality …
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Navigational algorithms evaluation and benchmarking
… and the evaluation of the problem areas of the Potential Field approach led to the development of the novel Pheromone Potential Field approach. This work opens the doors to more in-depth research into benchmarking across the different navigational categories in static and dynamic environments, …
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A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
… based controllers as well as an artificial Potential Field controller. Additionally, humans acted as controllers and their performance was quantified. The Model Predictive Control based controllers developed here include a simple application in which a two dimensional distance is employed as …
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