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 12 of 12 for “"trajectory generation algorithm"”.
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A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints
We present a new trajectory generation algorithm for autonomous guidance and control of unmanned vehicles from a given starting point to a given target location. We build and update incomplete a priori maps of the operating environment in real time using onboard sensors and compute level sets on …
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Regressive model approach to the generation of test trajectories
… situations where an input into the system is a trajectory of data, where a trajectory is defined as a series of data points with each point relying upon the previous points. Examples of trajectories of data include an airplane's flight path or data describing a nuclear reaction. Whereas test …
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Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces
… skilled operators. This research presents a trajectory generation algorithm that is capable of autonomously applying shotcrete to unknown surface geometries. The trajectory generation algorithm can also be used to perform radiation scanning with the use of a previously developed tool changer. …
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A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion
We propose a new dynamically feasible trajectory generation algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path …
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Information-rich path planning under general constraints using Rapidly-exploring Random Trees
… Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information maximization in general (possibly heavily constrained) …
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Lossless convexification of quadrotor motion planning with experiments
… constraints. Using the convexied optimal trajectory generation problem with physical and path constraints, an algorithm is developed that generates fuel optimal trajectories given the initial state and desired final state. As a proof of concept, a quadrotor testbed is developed that …
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Design and control of a compact aerial manipulation system with a Delta-type parallel robot
… features, modern flight controllers, and optimal trajectory generation. They are primarily designed for versatile indoor pick-and-place tasks where the characteristics of the proposed solution introduce useful kinematic properties. We explore these traits to address critical deficiencies found in …
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Model predictive control for terminal area energy management and approach and landing for a reusable launch vehicle
… Draper Laboratory has been developing the next generation guidance and control for reusable launch vehicles in which guidance and control is integrated into one correlated system. Draper's research of integrated guidance and control originated with a single loop multivariable control scheme …
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Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories
… It requires motion planning and flight control algorithms that enable highly accurate maneuvering at the edge of the vehicle’s capability. These algorithms must overcome challenges particular to fast and agile flight, such as complex dynamics effects including significant unsteady aerodynamics …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
<p>This work presents several trajectory generation algorithms for multibody robotic systems based on the Product of Exponentials (PoE) formulation, also known as screw theory. A PoE formulation is first developed to model the kinematics and dynamics of a multibody robotic manipulator (Sawyer …
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Transition path sampling in organometallic catalysis: Overcoming the rare event problem in ab initio molecular dynamics
… simulation on a reactive event. We present new algorithms to generate initial reactive trajectories for TPS and a novel trajectory generation algorithm which uses a variable perturbation size to improve the sampling efficiency. Our first path sampling study investigated the Ru---hydride …
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Smart Growing Rod Device for the Treatment of Early Onset Scoliosis
Early Onset Scoliosis (EOS) occurs in children under 10 years of age and many cases have a higher probability of progression during growth. The EOS has been treated with “growing rod” procedure to avoid interference with spinal growth. Patients have to undergo a series of operations to have the rod …