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.
Results
Showing 1 to 20 of 60 for “"waypoint"”.
-
Autonomous Vehicle Waypoint Navigation Using Hyper-Clothoids
… strategy, to autonomously navigate a car. These waypoint navigation solutions smoothly connect the given waypoints with C1 continuity using Hermite cubic splines which is used as a reference path for the controller to track. The PID controller uses lateral and heading error to generate a steering …
-
Time-optimal multi-waypoint mission planning in dynamic flow fields
… and visit a finite number of locations or waypoints in the minimal time; this problem bears close resemblance to that of the classic "traveling salesman," albeit with the added complexity of a continuously changing flow field. The paths, or "legs," between all goal waypoints are generated …
-
A waypoint-driven gradient descent solution for a parallel robot
… for that desired orientation, and then creates waypoints across the path in order to ensure minimal displacement error and reduce chances of damage to the robot's motors all in realtime. This solution allows for a more intuitive user experience with TSERA and increases robustness of the robot …
-
Investigation of visual cueing aids for UAV targeting for real-time waypoint re-allocation
… of two visual cueing aids for a real-time waypoint navigation system. The applications of the cueing aids would be in enhancing operator performance during real-time operation of an Unmanned Autonomous Vehicle (UAV). Subjects used a graphical user interface to perform a simulated …
-
Radio propagation analysis for improved UAV data muling of surfaced underwater sensor nodes
<p>The present work examines waypoint selection and evaluation mechanisms for data muling water sensor nodes via unmanned air vehicle. We present a mathematical model for predicting signal strength with respect to distance and height using a two-ray propagation model in conjunction with the …
-
Design and Development of an Autonomous Line Painting System
… Global Positioning System (GPS) coordinates for waypoint navigation. A computer vision algorithm is developed to provide vision feedback to stabilize the painting mechanism. The system is demonstrated to follow an input desired trajectory and cancel any high frequency vibrations due to the uneven …
-
Development of the "Discretized Dynamic Expanding Zones with Memory" Autonomous Mobility Algorithm for the Nemesis Tracked Vehicle Platform
… process. The added autonomous capabilities of waypoint navigation and obstacle avoidance could greatly reduce operator fatigue. ARA chose to leverage Virginia Tech's experience in developing an autonomous mobility capability for the Nemesis platform. The resulting algorithms utilize the …
-
Cooperative Payload Transportation by UAVs: A Model-Based Deep Reinforcement Learning (MBDRL) Application
… configured to maximize the reward function for waypoint navigation, while a position-based formation controller ensures stable flights of these physically linked UAVs. We also developed an Unreal Engine (UE) simulation connected to an offboard planner and controller via a Robot Operating System …
-
Design of a prototype autonomous amphibious WHEGS robot for surf-zone operations
… is capable of autonomous, land based waypoint navigation, self orientation, and rudimentary obstacle avoidance. It can receive waypoint information, manual control input, and transmit video and audio information back to a control station via 802.11 wireless communication. The …
-
Enhancing Capabilities of Assistive Robotic Arms: Learning, Control, and Object Manipulation
… for robotic manipulation tasks by introducing a waypoint-based algorithm. This approach frames task learning as a sequence of multi-armed bandit problems, where each bandit problem corresponds to a waypoint in the robot's trajectory. We introduce an approximate posterior sampling solution that …
-
Autonomous Navigation of a Ground Vehicle to Optimize Communication Link Quality
… This concept continuously generates a desired waypoint for repositioning the ground vehicle. The second concept uses a-priori GIS data to evaluate the desired vehicle waypoint determined by the vector sum. The GIS data is used primarily for evaluating the viewshed, or line-of-sight, between two …
-
Development and Deployment of a Dynamic Soaring Capable UAV using Reinforcement Learning
… and turn rate of the UAV to follow a closed-loop waypoint path with variable altitude. This must be paired with a waypoint optimizing agent to perform loitering DS. The UES agent was designed to perform traveling DS in a fixed wind shear condition. It was proven to extract energy from the wind …
-
UAV Formation Flight Utilizing a Low Cost, Open Source Configuration
… formation flight controller based on a virtual waypoint implementation of potential function guidance was developed for use on an embedded microcontroller. A commercially-available autopilot system, designed for fully autonomous waypoint navigation utilizing low cost hardware and open source …
-
Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.
… of algorithms is proposed for obtaining coverage waypoint plans for those areas. These algorithms are designed to afford the non-holonomic nature of fixed-wing vehicles and the restrictions their dynamics impose. Moreover, this Thesis also proposes a variation of a well-known path tracking …
-
Trajectory optimization using mixed-integer linear programming
… in the optimization, such as assignment of waypoints to UAVs and the assignment of spacecraft to positions in a formation. These requirements lead to non-convex constraints and difficult optimizations. However, they can be formulated as mixed-integer linear programs (MILP) that can be solved …
-
Path Planning for Unmanned Air and Ground Vehicles in Urban Environments
… colliding with any buildings. We present the Waypoint RRT (WRRT) algorithm, which accounts for UAV dynamics while planning a flyable, collision-free waypoint path for a UAV in urban terrain. Results show that this method is fast and robust, and is able to plan paths in difficult urban …
-
Multi-vehicle rover testbed using a new indoor positioning sensor
… tests are performed using single and multi-waypoint path plans. The results from these tests demonstrate the correctness of the system model, estimator, and control algorithms. This testbed serves as a platform for future multi-vehicle coordinated control experiments.
-
Autonomous Search and Rescue: Real-Time Drone and Robotic Dog Integration
… real-time aerial reconnaissance and ground-based waypoint navigation without reliance on GPS. The methodology includes software development using the Spot SDK and Tello APIs, a virtual networked solution for integration, and an experimental setup to validate navigation accuracy. The integration …
-
Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles
… investigated in this thesis is to transit to a waypoint in a dynamic environment, including other moving vessels to avoid. To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission …
-
Unmanned Aeronautical Ad-hoc Networks: Enhancing the Reactive-Greedy-Reactive Protocol and Introducing a New Mobility Model
… replace the widely used, but unrealistic, Random Waypoint (RWP) mobility model. Simulations performed using the OPNET simulator show that Optimized-RGR outperforms RGR. There is a 5.3% increase in Packet Delivery Ratio at a negligible cost in latency. Furthermore, realistic mobility models, …
Page 1 of 3