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 10 of 10 for “"terrain profile"”.
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Stochastic Terrain and Soil Modeling for Off-Road Mobility Studies
… representations of the variability of the terrain profile. It is not practically feasible to measure the terrain at a sufficiently large number of points, or, if measured, to use such data directly in the simulation. Dedicated modeling techniques and computational methods that realistically …
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Development of a Terrain Pre-filtering Technique applicable to Probabilistic Terrain using Constraint Mode Tire Model
The vertical force generated from terrain-tire interaction has long been of interest for vehicle dynamic simulations and chassis development. As the terrain serves as the main excitation to the suspension system through pneumatic tire, proper terrain and tire models are required to produce reliable …
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Development of an integrated tracking control algorithm and a test platform for autonomous excavation
… path of the bucket tip by reducing the contour profile error that is vital for skilled tasks such as ground levelling. Furthermore, the time-delayed control strategy was adopted to mitigate dynamic uncertainties. The performance of the developed algorithm was evaluated through co-simulation in …
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Terrain sensing and estimation for dynamic outdoor mobile robots
… mobile robots are required to travel on outdoor terrain at high speed. Compared to traditional low-speed, laboratory-based robots, outdoor scenarios pose increased perception and mobility challenges which must be considered to achieve high performance. Additionally, high-speed driving produces …
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Modeling and control of the Pr-500-Fl pavement profiler cutter system
A manually controlled PR-500-FL Pavement Profiler vehicle is modeled and converted to allow terrain contingent cutter depth control by an on-board portable computer. A series of geometric equations were developed in an attempt to define the required motion of the vehicle's three hydraulic actuator …
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Rough-terrain mobile robot planning and control with application to planetary exploration
… to perform difficult tasks in highly challenging terrain, with limited human supervision. Current motion planning and control algorithms are not well suited to rough-terrain mobility, since they generally do not consider the physical characteristics of the rover and its environment. Failure to …
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Techniques for using 3D Terrain Surface Measurements for Vehicular Simulations
… is the development of techniques for using 3D terrain surface measurements for vehicular simulations. Contributions are made to vehicle model parameter identification, terrain filtering, and application-dependent interpolation methods for 3D terrain surfaces. Modeling and simulation are used to …
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Improved Terrain Measurement System for Estimation of Global Terrain Features, Surface Roughness, and Texture
… improvements in accuracy and repeatability of terrain measurement systems. Traditional terrain measurement systems are tailored for a measuring a specific scale and resolution and hence application scope. These systems tend to focus on surface roughness alone and reject either fine macrotexture …
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Improving the Quality of Terrain Measurement
… and tire models has raised the requirements for terrain measurement capabilities. Inaccuracies that were once tolerable for measurement of general terrain roughness are no longer acceptable for these new applications. The techniques in this work seek to improve the quality of terrain measurement …
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A Galerkin Approach to Define Measured Terrain Surfaces with Analytic Basis Vectors to Produce a Compact Representation
… time and money spent in the development process. Terrain is the principle source of vertical excitation to the vehicle and must be accurately represented in order to correctly predict the vehicle response in simulation. In this dissertation, non-deformable terrain surfaces are defined as a …