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Hague, Tony. "Motion planning for autonomous guided vehicles." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358592.
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Anderson, Jonathan D. "Semi Autonomous Vehicle Intelligence: Real Time Target Tracking For Vision Guided Autonomous Vehicles." Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1750.pdf.
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Wang, Tingkai. "Navigation and control of autonomous guided vehicles." Thesis, University of Wolverhampton, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.264041.
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Chikosi, Gerald. "Autonomous guided vehicle for agricultural application." Thesis, Nelson Mandela Metropolitan University, 2014. http://hdl.handle.net/10948/d1016164.
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With the world's population expected to reach nine billion by 2050, agricultural production will have to double to meet this growing demand. Hence, a need for better infrastructure to enhance farming efficiency becomes apparent. There are a number of solutions that have been developed to date that are commercially available. They range from genetically modified seeds and bio/green fertilizers to advanced farming machinery amongst others. However most of the farming equipment developed has drawbacks such as: heavy weight – this leads to reduced yields due to soil compacting; human dependency – constant monitoring and controlling is needed; light dependency – excludes usage during the night or when visibility is poor. Therefore, a possible solution will be researched to enhance the evolution of farming equipment. Furthermore, a model will be developed for testing and verifying the research.
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Griffiths, Ian. "Microcontroller implementation of artificial intelligence for autonomous guided vehicles." Thesis, University of Wolverhampton, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266837.
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UjvaÌri, SaÌndor. "Simulation in automated guided vehicle system design." Thesis, De Montfort University, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.275545.
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Pears, Nicholas Edwin. "The low-level guidance of an experimental autonomous vehicle." Thesis, Durham University, 1989. http://etheses.dur.ac.uk/6731/.
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This thesis describes the data processing and the control that constitutes a method of guidance for an autonomous guided vehicle (AGV) operating in a predefined and structured environment such as a warehouse or factory. A simple battery driven vehicle has been constructed which houses an MC68000 based microcomputer and a number of electronic interface cards. In order to provide a user interface, and in order to integrate the various aspects of the proposed guidance method, a modular software package has been developed. This, along with the research vehicle, has been used to support an experimental approach to the research. The vehicle's guidance method requires a series of concatenated curved and straight imaginary Unes to be passed to the vehicle as a representation of a planned path within its environment. Global position specifications for each line and the associated AGV direction and demand speed for each fine constitute commands which are queued and executed in sequence. In order to execute commands, the AGV is equipped with low level sensors (ultrasonic transducers and optical shaft encoders) which allow it to estimate and correct its global position continually. In addition to a queue of commands, the AGV also has a pre-programmed knowledge of the position of a number of correction boards within its environment. These are simply wooden boards approximately 25cm high and between 2 and 5 metres long with small protrusions ("notches") 4cm deep and 10cm long at regular (Im) intervals along its length. When the AGV passes such a correction board, it can measure its perpendicular distance and orientation relative to that board using two sets of its ultrasonic sensors, one set at the rear of the vehicle near to the drive wheels and one set at the front of the vehicle. Data collected as the vehicle moves parallel to a correction board is digitally filtered and subsequently a least squares line fitting procedure is adopted. As well as improving the reliability and accuracy of orientation and distance measurements relative to the board, this provides the basis for an algorithm with which to detect and measure the position of the protrusions on the correction board. Since measurements in three planar, local coordinates can be made (these are: x, the distance travelled parallel to a correction board; and y,the perpendicular distance relative to a correction board; and Ɵ, the clockwise planar orientation relative to the correction board), global position estimation can be corrected. When position corrections are made, it can be seen that they appear as step disturbances to the control system. This control system has been designed to allow the vehicle to move back onto its imaginary line after a position correction in a critically damped fashion and, in the steady state, to track both linear and curved command segments with minimum error.
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Brown, Alan C. "Logic and real-time systems." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.282413.
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Robinson, Stephen David. "The design and intelligent control of an autonomous mobile robot." Thesis, Durham University, 1996. http://etheses.dur.ac.uk/5341/.
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This thesis presents an investigation into the problems of exploration, map building and collision free navigation for intelligent autonomous mobile robots. The project began with an extensive review of currently available literature in the field of mobile robot research, which included intelligent control techniques and their application. It became clear that there was scope for further development with regard to map building and exploration in new and unstructured environments. Animals have an innate propensity to exhibit such abilities, and so the analogous use of artificial neural networks instead of actual neural systems was examined for use as a method of robot mapping. A simulated behaviour based mobile robot was used in conjunction with a growing cell structure neural network to map out new environments. When using the direct application of this algorithm, topological irregularities were observed to be the direct result of correlations within the input data stream. A modification to this basic system was shown to correct the problem, but further developments would be required to produce a generic solution. The mapping algorithms gained through this approach, although more similar to biological systems, are computationally inefficient in comparison to the methods which were subsequently developed. A novel mapping method was proposed based on the robot creating new location vectors, or nodes, when it exceeded a distance threshold from its mapped area. Network parameters were developed to monitor the state of growth of the network and aid the robot search process. In simulation, the combination of the novel mapping and search process were shown to be able to construct maps which could be subsequently used for collision free navigation. To develop greater insights into the control problem and to validate the simulation work the control structures were ported to a prototype mobile robot. The mobile robot was of circular construction, with a synchro-drive wheel configuration, and was equipped with eight ultrasonic distance sensors and an odometric positioning system. It was self-sufficient, incorporating all its power and computational resources. The experiments observed the effects of odometric drift and demonstrated methods of re-correction which were shown to be effective. Both the novel mapping method, and a new algorithm based on an exhaustive mesh search, were shown to be able to explore different environments and subsequently achieve collision free navigation. This was shown in all cases by monitoring the estimates in the positional error which remained within fixed bounds.
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Cawood, Gareth James. "Design of a low-cost autonomous guided cart for material handling." Thesis, Nelson Mandela Metropolitan University, 2015.
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This dissertation covers the design and manufacture of an autonomous guided cart (AGC) for use in the material handling industry. General Motors South Africa (GMSA) requires a low-cost AGC for use in their Struandale plant. A budget of R35 000 per unit was proposed. The researcher, in collaboration with staff at GM, compiled a list of engineering requirements for the AGC. After research into the unique problems of the project, an examination of a previous design attempt by staff of GM Thailand, the researcher developed a new design, the subject of this report. Different solutions for each design problem were investigated before the design was finalised. A three-wheeled vehicle was designed making use of two motors in a differential-drive setup to control motion. Navigation is via a line-following mechanism, using an induction sensor-array in conjunction with a pre-laid metallic strip. To aid the design, the system was modelled to understand the different control elements at play. The researcher developed software for several aspects of the design: for the PLC controlling the system and motors; for a microcontroller that communicates with the PLC and a wireless module; for a computer server that communicates with a second wireless device, receiving information from the PLC; and a web interface to view this information. These form the SCADA integration of the project. The final product meets the GMSA specifications. It is a robot capable of towing a trolley of mass not exceeding 350 kg. While the robot is able to navigate a pre-laid route, it cannot reliably stop at marked locations. It is possible to monitor the system via a web-interface. The robot is capable of operating for an entire 8-hour shift before the batteries need to be recharged. The total cost of the prototype was R26 340.
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Plebe, Alice. "Cognitively Guided Modeling of Visual Perception in Intelligent Vehicles." Doctoral thesis, Università degli studi di Trento, 2021. http://hdl.handle.net/11572/299909.
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This work proposes a strategy for visual perception in the context of autonomous driving. Despite the growing research aiming to implement self-driving cars, no artificial system can claim to have reached the driving performance of a human, yet. Humans---when not distracted or drunk---are still the best drivers you can currently find. Hence, the theories about the human mind and its neural organization could reveal precious insights on how to design a better autonomous driving agent. This dissertation focuses specifically on the perceptual aspect of driving, and it takes inspiration from four key theories on how the human brain achieves the cognitive capabilities required by the activity of driving. The first idea lies at the foundation of current cognitive science, and it argues that thinking nearly always involves some sort of mental simulation, which takes the form of imagery when dealing with visual perception. The second theory explains how the perceptual simulation takes place in neural circuits called convergence-divergence zones, which expand and compress information to extract abstract concepts from visual experience and code them into compact representations. The third theory highlights that perception---when specialized for a complex task as driving---is refined by experience in a process called perceptual learning. The fourth theory, namely the free-energy principle of predictive brains, corroborates the role of visual imagination as a fundamental mechanism of inference. In order to implement these theoretical principles, it is necessary to identify the most appropriate computational tools currently available. Within the consolidated and successful field of deep learning, I select the artificial architectures and strategies that manifest a sounding resemblance with their cognitive counterparts. Specifically, convolutional autoencoders have a strong correspondence with the architecture of convergence-divergence zones and the process of perceptual abstraction. The free-energy principle of predictive brains is related to variational Bayesian inference and the use of recurrent neural networks. In fact, this principle can be translated into a training procedure that learns abstract representations predisposed to predicting how the current road scenario will change in the future. The main contribution of this dissertation is a method to learn conceptual representations of the driving scenario from visual information. This approach forces a semantic internal organization, in the sense that distinct parts of the representation are explicitly associated to specific concepts useful in the context of driving. Specifically, the model uses as few as 16 neurons for each of the two basic concepts here considered: vehicles and lanes. At the same time, the approach biases the internal representations towards the ability to predict the dynamics of objects in the scene. This property of temporal coherence allows the representations to be exploited to predict plausible future scenarios and to perform a simplified form of mental imagery. In addition, this work includes a proposal to tackle the problem of opaqueness affecting deep neural networks. I present a method that aims to mitigate this issue, in the context of longitudinal control for automated vehicles.
A further contribution of this dissertation experiments with higher-level spaces of prediction, such as occupancy grids, which could conciliate between the direct application to motor controls and the biological plausibility.
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Wiklund, Urban. "Algorithms for navigation of autonomous guided vehicles : based on measurements of directions to identical beacons." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 1988. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-17993.
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Tubb, Christopher. "Integration of navigation with a behavioural control scheme." Thesis, University of South Wales, 2000. https://pure.southwales.ac.uk/en/studentthesis/integration-of-navigation-with-a-behavioural-control-scheme(58fc566a-2093-4db7-be71-664f00416344).html.
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This thesis describes a navigational strategy for automatically guided vehicles and a behavioural control implementation using a modified zero order Sugeno fuzzy inference engine. Animals are examined as a model of intelligent behaviour and behavioural control implementations discussed and compared. The features and the requirements of a behavioural control implementation are identified and modifications to Sugeno inferencing are then described which allow these to be met. A successful implementation is then presented. The navigation task is examined, as are various methods of representing space. Special structural features of constrained spaces are identified. A route based navigation system exploiting diese features is then developed. The strategy combines the representation of space with the task description into an easily communicated message. This navigational strategy is then successfully integrated with the behavioural control implementation presented earlier. The influence of spatial structure on the complexity of the navigation task is investigated with a view to the categorisation of space. A definition of maze-spaces is developed from this. Conclusions are then drawn on the themes of the work, and suggestions made for further investigations.
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Diamantopoulos, Anastasios. "A reduced visibility graph approach for motion planning of autonomously guided vehicles." Thesis, University of South Wales, 2001. https://pure.southwales.ac.uk/en/studentthesis/a-reduced-visibility-graph-approach-for-motion-planning-of-autonomously-guided-vehicles(3f368020-0a83-42e5-ba83-b4a4a6257bc2).html.
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This thesis is concerned with the robots' motion planning problem. In particular it is focused on the path planning and motion planning for Autonomously Guided Vehicles (AGVs) in well-structured, two-dimensional static and dynamic environments. Two algorithms are proposed for solving the aforementioned problems. The first algorithm establishes the shortest collision-semi-free path for an AGV from its start point to its goal point, in a two-dimensional static environment populated by simple polygonal obstacles. This algorithm constructs and searches a reduced visibility graph, within the AGV's configuration space, using heuristic information about the problem domain. The second algorithm establishes the time minimal collision-semi-free motion for an AGV, from its start point to is goal point, in a two-dimensional dynamic environment populated by simple polygonal obstacles. This algorithm considers the AGV's spacetime configuration space, thus reducing the dynamic motion planning problem to the static path planning problem. A reduced visibility graph is then constructed and searched using information about the problem domain, in the AGV's space-time configuration space in order to establish the time-minimal motion between the AGV's start and goal configurations. The latter algorithm is extended to solve more complicated instances of the dynamic motion planning problem, where the AGV's environment is populated by obstacles, which change their size as well as their position over time and obstacles, which have piecewise linear motion. The proposed algorithms can be used to efficiently and safely navigate AGVs in well structured environments. For example, for the navigation of an AGV, in industrial environments, where it operates as part of the manufacturing process or in chemical and nuclear plants, where the hostile environment is inaccessible to humans. The main contributions in this thesis are, the systematic study of the V*GRAPH algorithm and identification of its methodic and algorithmic deficiencies; recommendation of corrections and further improvements on the V* GRAPH algorithm, which in turn lead to the proposition of the V*MECHA algorithm for robot path planning; proposition of the D*MECHA algorithm for motion planning in dynamic environments; extension to the D*MECHA algorithm to solve more complicated instances of the dynamic robot motion planning problem; discussion of formal proofs of the proposed algorithms' correctness and optimality and critical comparisons with existing similar algorithms for solving the motion planning problem.
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Botelho, Rodrigo de Castro Baker. "Estudo de estabilização de um veículo quadrimotor não tripulado com carga pendular." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-04022019-153802/.
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Este trabalho aborda o controle de um veículo aéreo não tripulado (VANT) com carga pendular acoplada. Veículos autônomos apresentam desafios de controle dadas suas características como não linearidades, acoplamento de movimentos, dinâmicas desconhecidas, distúrbios ambientais e ser um sistema do tipo subatuado. O veículo aqui estudado apresenta seis graus de liberdade relativos ao movimento de corpo livre do robô e dois graus de liberdade adicionados pela carga pendular acoplada. Seu modelo matemático é deduzido através das equações de Lagrange, linearizado em torno do ponto de operação e validado através de simulações. O projeto de controle é baseado nos controladores lineares dos tipos PID, LQR e H? para sistemas multivariáveis. Uma vez obtidos os controladores, são apresentadas as simulações para três cenários distintos considerando estabilização a partir de condições iniciais e perturbações e incertezas. Os controladores resultantes das sínteses são simulados com a planta linear e não linear e verificados conforme seu desempenho.The present work is focused on the stabilization control of Unmanned Aerial Vehicles (UAV) connected with a slung load. UAV Control is a challenging subject due its characteristics such as non-linearities, coupling dynamics, unknown dynam-ics, environmental disturbances which they are subjected and their underactuated nature. The vehicle presents six degrees of freedom relative to its free body configu-ration and two additional degrees of freedom for it slung load coupling. The mathe-matical model is derived for this configuration through the Lagrange approach, further linearized around its operation point and validated through simulations. The Control Design is based on three different linear controllers, PID, LQR and H? for multivariate systems. Once designed, they are simulated with the linear-ized plant and the non-linearized plant considering three different scenarios for stabi-lization. Finally, the controllers are tested and simulated on a virtual model and the results are presented and discussed.
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Cordeiro, Rafael de Angelis 1986. "Modelagem e controle de trajetória de um veículo robótico terrestre de exterior." [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263856.
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Orientador: Ely Carneiro de PaivaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: Veículos terrestres autônomos tem recebido uma atenção especial dos estudos de robótica nos últimos anos. Suas aplicações incluem segurança na condução, exploração de locais inóspitos e automatização agrícola. O enfoque deste trabalho situa-se no projeto VERO, em parceria com o CTI, e tem por objetivo o desenvolvimento de aplicações de controle de trajetória para um veículo do tipo todo-terreno. Para tal, um modelo completo (dinâmico e tridimensional) é desenvolvido, com uma atenção especial para os modelos de interação entre solo e pneu, responsáveis pelas forças não lineares atuantes sobre o veículo. Em seguida, dois modelos reduzidos e linearizados são obtidos e estes são utilizados para a síntese de controladores LQR. Uma comparação entre os controladores é realizada e a resposta de um deles é detalhada para uma análise sobre a influência das características do modelo veicular sobre o controle do veículo. Por fim, três abordagens são propostas para melhorar a resposta obtida pelos controladores
Abstract: Autonomous ground vehicles have received special attention from robotics studies in past years. Their applications include advanced driver assistance systems (ADAS), exploration of inhospitable environments and harvest autonomous machines. In partnership with CTI, this master's thesis focuses in the development of path tracking controllers applied to off-road vehicles. In order to simulate vehicle characteristics, a complete three-dimensional nonlinear dynamic model was proposed with emphasis on tire-road interaction models, which are responsible for most of the vehicle's nonlinearities. In sequence, two vehicle reduced linear models are presented and applied to synthesize LQR controllers, whose results are compared. One of them was chosen to analyze the effect of vehicles's three-dimensional dynamics on path tracking control. Finally, three different approaches are proposed to enhance controllers performance
Mestrado
Planejamento de Sistemas Energeticos
Mestre em Engenharia Mecânica
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Fithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.
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The purpose of this research was to determine the feasibility of a laser-based positioning system as a primary navigation method. The system developed for this research consisted of an automated guided vehicle which navigated solely with the use of the laser-based positioning system in real-time. To date, there are no systems which can navigate a pre-defined path using such a positioning system. Some lessons were learned by the researcher, however, concerning the viability of this system in an industrial environment. The system should have had the following advantages over previous systems: 1) Greater range, 2) no prior structuring of environment, 3) real-time navigation, and 4) no reliance on dead-reckoning for navigation.
The results showed that goals two through four had been met and are advantages of this system over current systems. The range of this system is limited, however, but it is believed that the next generation system should have greater range than the system used in this research.
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Hernandez, Beleño Ruben Dario 1986. "Proposta de uma plataforma de testes para o desenvolvimento de veículos autônomos." [s.n.], 2012. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264960.
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Orientador: Janito Vaqueiro FerreiraDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: Com o avanço da tecnologia refletida nos sistemas eletrônicos e de computação, os métodos do controle de trajetória no sistema de navegação se tornaram importantes nas diversas aplicações de veículos autônomos, como na geração de mapas, desvio de obstáculos e tarefas de posicionamento. Além disso, o controle pode proporcionar um ganho significativo na confiabilidade, versatilidade e precisão das tarefas robóticas, questões cruciais na maioria das aplicações reais. O presente trabalho tem como objetivo principal apresentar a criação de um veículo autônomo em escala. Para tanto foi desenvolvido um sistema de função sensorial que provê informações sobre a posição e orientação do carro a partir de quatro sistemas sensoriais como GPS, acelerômetro, giroscópio e a bussola (IMU), para que o veículo autônomo possa realizar a rota corretamente, de forma eficiente e segura. Neste projeto foi desenvolvido um software que integra os sistemas de controle e de sensoriamento. Além disso, foi projetado um módulo que controla a posição e orientação do veículo. O robô antes de realizar a manobra calcula a distância mínima relacionada ao próximo ponto da coordenada planejada para trocar sua referência de trajetória satisfazendo a orientação do caminho e do veículo. Para fins de avaliação, foram realizados experimentos em ambientes reais onde o carro percorre um conjunto determinado de coordenadas geográficas sem nenhuma intervenção humana, apresentando resultados do seguimento de trajetórias proposto e validando os sistemas sensoriais, além do algoritmo de controle projetado
Abstract: As electronic and computational systems technology advances, the use of path control methods in navigation systems become very important for different autonomous vehicles applications such as generating maps, avoiding obstacles and carrying out positioning tasks. In addition, controls can help increase the reliability, versatility and precision level of programmed tasks, which is exceedingly significant regarding real applications. The first aim of this work is to present the creation of an autonomous scale vehicle. We have developed a sensor system that provides information about the vehicle's position and orientation through four sensor systems such as gps, accelerometer, gyroscope and compass so that it can effectively and safely cover the right route. This project developed a software, which integrates the control and sensors systems. In addition, a control module was projected for the positioning and orientation of the vehicle. Before the robot turns to any direction, it calculates the minimal distance to the next step of the programmed coordinate, in order to change its own referenced trajectory, satisfying the orientation of the trajectory and the vehicle. For the task validation were done experiments in real life scenarios, where the vehicle follows a determined group of geo-coordinates without any human intervention, presenting results of the purposed following trajectories, validating the sensors systems and the control algorithm
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Nordström, Oskar, and ALEXANDER AXELSSON. "Pathfinder : Autonomous Guided Vehicle using Infrared Light." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-232997.
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In the world, research on autonomous navigation vehicles (AGV) is growing by the day. The goal with this project was to create an AGV and explore the possibility of using infrared reflections as a navigational method and how to achieve distinct reflection measurements from a surface. The thesis also discusses the possibility of using several units on a larger scale. In the progress of the project, a prototype vehicle was built to conduct the experiments to identify the suitability of infrared navigation. The testing of the prototype shows that navigation by IR can be very reliable under controlled circumstances. The project also explored how hierarchical software architecture stands in comparison to purely local or centralized software architecture.I världen växer forskning på självgående fordon dagligen. Målet med detta projekt var att skapa ett självgående fordon och utforska möjligheterna att använda infraröda reflektioner som navigeringsmetod och hur man kan uppnå distinkta mätvärden. Avhandlingen diskuterar även möjligheterna att använda flera prototyper i en större skala. Under projektets gång byggdes ett prototypfordon för att genomföra experimenten angående lämpligheten med navigering via infrarött ljus. Tester med prototypen visar att navigering via infrarött ljus är väldigt pålitligt under kontrollerade omständigheter. Projektet utforskar även hur hierarkisk mjukvaruarkitektur står sig mot helt lokal eller centraliserad mjukvaruarkitektur.
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Nordström, Oskar, and Alexander Axelsson. "Pathfinder : Autonomous Guided Vehicle using Infrared Light." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230241.
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I världen växer forskning på självgående fordon dagligen.Målet med detta projekt var att skapa ett självgåendefordon och utforska möjligheterna att använda infrarödareflektioner som navigeringsmetod och hur man kanuppnå distinkta mätvärden. Avhandlingen diskuterar ävenmöjligheterna att använda flera prototyper i en störreskala. Under projektets gång byggdes ett prototypfordonför att genomföra experimenten angående lämplighetenmed navigering via infrarött ljus. Tester med prototypenvisar att navigering via infrarött ljus är väldigt pålitligtunder kontrollerade omständigheter. Projektet utforskaräven hur hierarkisk mjukvaruarkitektur står sig mot heltlokal eller centraliserad mjukvaruarkitektur.In the world, research on autonomous navigation vehicles(AGV) is growing by the day. The goal with this projectwas to create an AGV and explore the possibility of usinginfrared reflections as a navigational method and how toachieve distinct reflection measurements from a surface.The thesis also discusses the possibility of using severalunits on a larger scale. In the progress of the project, aprototype vehicle was built to conduct the experiments toidentify the suitability of infrared navigation. The testingof the prototype shows that navigation by IR can be veryreliable under controlled circumstances. The project alsoexplored how hierarchical software architecture stands incomparison to purely local or centralized software architecture.
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BALACHANDRAN, SUJAN. "DATA REPOSITORY FOR AUTONOMOUS GUIDED VEHICLE USING ASP.NET." University of Cincinnati / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1085415867.
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RAVINDRAN, RAMYA. "DataMart for an Autonomous Guided Vehicle Using ColdFusion." University of Cincinnati / OhioLINK, 2001. http://rave.ohiolink.edu/etdc/view?acc_num=ucin991133929.
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Murugappan, Meyyapa Ganesh. "ONLINE OBSTACLE AVOIDANCE SYSTEM FOR AN AUTONOMOUS GUIDED VEHICLE." University of Cincinnati / OhioLINK, 2000. http://rave.ohiolink.edu/etdc/view?acc_num=ucin976200695.
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Burke, Thomas P. H. "Design of a modular mobile robot." Thesis, University of Oxford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.339301.
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Guerra, Roberto J. "Self-guided micro vehicle an autonomous vehicle with gps navigation and 802.11b communications /." [Tampa, Fla.] : University of South Florida, 2005. http://purl.fcla.edu/fcla/etd/SFE0001067.
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Plantenberg, Detlef Holger. "Adaptive motion control for a four wheel steered mobile robot." Thesis, Nottingham Trent University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341262.
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For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed which utilises the geometric relationship of the angular displacements and the rotations of the wheels to estimate the longitudinal and lateral motions of the vehicle. The motion controller consists of three building blocks: the motion control system comprising the position tracking and the motion command generation; the electronic system comprising a data acquisition system and proprietary power electronics; the mechanical system which includes an undercarriage enabling permanent contact of the wheels with the floor. The components have been designed not only to perform optimally in their specific functions but also to ensure full compatibility within the integrated system. For reliable deduction of the wheel rotations with a high degree of accuracy a dedicated data acquisition interface has been developed, which enables data to be captured in parallel from four optical encoders mounted directly on the wheel axles. Parallel sampling of the angular wheel position and parallel actuation of all steering motors improves the accuracy of the system state and gives a higher degree of certainty. Considering only circular motion of the vehicle, a method for calculating the steering angles and wheel speeds based on the complex notation is presented. By cumulating the displacement vectors of the vehicle motion and the location of the centre of rotation between consecutive samples of the controller, the path of the vehicle is estimated. The difference between the nominal and the deduced centre of rotation is determined to minimise deviations from the reference trajectory and to allow the controller to adapt to changes in the road/tyre interface characteristics. The individual mechanical and electronic components have been assembled and tested. Additionally, the performance of the electronic interface has been evaluated on a purpose built test-bed. For the experimental validation of the methodology, a simple method of mapping the centre of curvature with a pen mounted at the nominal centre of rotation has been proposed. Experiments have been conducted with both the steering angles fixed to their theoretical values for the nominal centre of rotation and with the proportional steering controller enabled. The results from the latter method have shown a significantly reduced deviation from the nominal centre of rotation. The data captured of the angular wheel positions and steering angle settings has been analysed off-line. Good agreement is obtained between the deduced and the actual centres of rotation for the measurements averaged over 1.5 seconds. A number of different centres of rotation have been investigated and the required steering angles to compensate for the deviation have been plotted to form a control surface for the motion controller. The deviation between the estimated and the actual centre of curvature was less than 1.6% and adequate results could be obtained with the proportional steering controller.
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Sethuramasamyraja, Balaji. "GPS Based Waypoint Navigation for an Autonomous Guided Vehicle – Bearcat III." Cincinnati, Ohio : University of Cincinnati, 2003. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=ucin1055874201.
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MODI, SACHIN BRISMOHAN. "COMPARISON OF THREE OBSTACLE AVOIDANCE METHODS FOR AN AUTONOMOUS GUIDED VEHICLE." University of Cincinnati / OhioLINK, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1029343700.
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Dzezhyts, Yevheniy. "Next generation low-cost automated guided vehicle." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19382.
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Automated guided vehicles (AGVs) are the key equipment of flexible production systems and an important means for realizing a modern logistics system that meets the demands of Industry 4.0. AGVs are used from the mid 50th to delegate monotonous work of delivering products from the human to the automated device. In the long run, the usage of AGVs brings huge benefits to the manufacturing companies. But the purchase and installation of these devices significantly increase operational costs. This fact halts small and medium-sized enterprises from adopting this technology on their shop floors. The idea of this thesis work is to design and create a device that can be retailed at a significantly lower price without compromising flexibility and functional properties, to be used by smaller businesses. For this mater are used more affordable parts that can bring the cost down of a final product. This work describes the process of developing a differential drive mobile platform under the control of the robotic operating system. The process includes the development of a virtual model; selection of required components and investigation of their compatibility; development of chassis, suspension, and gear system; development of a hardware interface to interact with hardware components; configuration of different algorithms of control, cartography, and navigation; evaluation of the device. The research method is used in this work is design and creation due to the necessity of creating a physical prototype. The budget specification for the project was set to 50000 SEK and the desired payload capacity was set to 100kg. The work has resulted in the creation of a prototype of the AGV. The cost of the project is 20595 SEK. The evaluation of a prototype resulted in a maximum towing force of 300N. The load capacity is limited by the mobile base is 400kg. Safety sensors are not used in this project as the device was meant to operate in a controlled environment. The work also gives an evaluation of the Gmapping algorithm in case of using the laser scanner (RPlidar A1) and two algorithms of navigation stack: TrajectoryPlannerROS and DWA planner. The final prototype is evaluated to support an autonomous movement within a controlled environment.
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Priestley, Michael D. J. "The initialisation and control of a visually guided autonomous road-following vehicle." Thesis, University of Bristol, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.281751.
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Dhamodarasamy, Dinesh-Kumar. "Web control of an autonomous guided vehicle using Java servlets & JNI." Cincinnati, Ohio : University of Cincinnati, 2003. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=ucin1070575557.
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FRANCIS, SHINCE. "REMOTE ADMINISTRATION OF AN AUTONOMOUS GUIDED VEHICLE THROUGH WEB BASED WIRELESS INTERFACES." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060185932.
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DHAMODARASAMY, DINESH-KUMAR. "WEB CONTROL OF AN AUTONOMOUS GUIDED VEHICLE USING JAVA SERVLETS & JNI." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1070575557.
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Williams, Stefan Bernard. "Efficient solutions to autonomous mapping and navigation problems." Connect to full text, 2001. http://hdl.handle.net/2123/809.
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Thesis (Ph. D.)--University of Sydney, 2002.Title from title screen (viewed Apr. 24, 2008). Submitted in fulfilment of the requirements for the degree of Doctor of Philosophy to the Australian Centre for Field Robotics, Dept. of Mechanical and Mechatronic Engineering, Faculty of Engineering. Degree awarded 2002; thesis submitted 2001. Includes bibliography. Also available in print form.
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Tönnes, Simon, and Joakim Storfeldt. "Effects of using multiple sensors to guide an autonomous vehicle." Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226648.
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This thesis aims to discover how well a combination of a mo- tion camera and an ultrasonic sensor performs compared to a solely motion camera guided motor-vehicle-system. The main purpose is to prove that a smart vehicle with sensors can follow a radio controlled vehicle, while maintaining ba- sic functionalities such as steering and throttle, with the constraint of rear-end collision avoidance. The thesis will show through small scale tests, if a vehicle in a highway situation can follow another vehicle in a safe and controlled fashion, using proposed sensors. We assume the work pre- sented in this thesis can also be a proof of concept for pla- tooning. The functionality of the proposed system is valid under regulations provided by Trafikverket. These conditions where replicated in a small scale test en- vironment and resulted in that using another sensor made the system able to follow closer and avoid bumping into the car in front.Avhandlingen syftar till att upptäcka hur ett självstyrande system beroende av en rörelsekamera mäter sig jämfört med ett system som kombinerar en rörelsekamera med en ult- raljudssensor. Det primära syftet är att bevisa att ett smart fordon med sensorer kan följa ett radiostyrt fordon, kontrol- lera grundläggande funktionaliteter som styrning och gas, samt undvika kollision med fordonet framför. Avhandling- en undersöker genom småskaliga tester om ett fordon i en motorvägssituation kan följa ett annat fordon på ett säkert och kontrollerat sätt. Vi antar det arbete som presente- ras i denna avhandling också kan vara bevis för konceptet platooning. Funktionaliteten av det föreslagna systemet är giltigt enligt reglerna från Trafikverket. Dessa förhållanden replikerades i en testmiljö av liten ska- la och resulterade i att en kombination med en extra av- ståndsmätare gjorde att systemet kunde följa närmare och fortfarande undvika att krocka in i bilen framför.
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Flores, Javier Alejandro. "Autonomous vehicle navigation a comparative study of classical logic and neural network technique /." To access this resource online via ProQuest Dissertations and Theses @ UTEP, 2009. http://0-proquest.umi.com.lib.utep.edu/login?COPT=REJTPTU0YmImSU5UPTAmVkVSPTI=&clientId=2515.
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Snyman, Christo Johannes. "Development of a navigation system for an autonomous guided vehicle using android technology." Thesis, Nelson Mandela Metropolitan University, 2012. http://hdl.handle.net/10948/d1020025.
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Coles, Charlie. "AUTOMATED VEHICLES: A GUIDE FOR PLANNERS AND POLICYMAKERS." DigitalCommons@CalPoly, 2016. https://digitalcommons.calpoly.edu/theses/1534.
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Automated vehicles are those which are capable of sensing their environments in order to perform at least some aspects of the safety-critical control (like steering, throttling, or braking) without direct human input. As a guide for planners and policymakers, the objective of this thesis is to develop a strong foundation for anticipating the potential impacts resulting from advancements in vehicle automation. To establish the foundation, this thesis uses a robust qualitative methodology, coupling a review of literature on the potential advantages and disadvantages of vehicle automation and lessons from past innovations in transportation, with recent trends of the Millennial Generation, carsharing services, and a series of interviews with thought-leaders in automation, planning, policymaking, transportation, and aviation. Five significant findings emerged from this thesis: (1) the impacts of vehicle automation differ depending on one’s visions of what automation means, how it is implemented, what the automation does, and where it operates; (2) current limitations of vehicle automation to perform all aspects of the dynamic driving task in all driving conditions make it difficult to move from level-4 to level-5 automation; (3) level-5 automation is required to have any effect on carsharing, mobility, and quality of life; (4) assuming effective planning and policymaking techniques, housing preferences, urban growth, and increases in total VMT will likely not be significantly impacted by vehicle automation; (5) human drivers may never be allowed to disengage their attention from a partially-automated vehicle, specifically in applications where drivers are expected to reengage their attention in safety-critical situations. From the perspective of understanding the bigger picture, this thesis developed a proposed future scenario of vehicle automation in the next five to ten years that is used to suggest guiding principles for policymakers, and key recommendations for planners, engineers, and researchers.
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DHARESHWAR, RAHUL G. "DEVELOPMENT OF AN ONLINE CATALOG SYSTEM FOR AN AUTONOMOUS GUIDED VEHICLE USING XML AND JAVA." University of Cincinnati / OhioLINK, 2001. http://rave.ohiolink.edu/etdc/view?acc_num=ucin990730475.
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Hughes, Bradley Evan. "A Navigation Subsystem for an Autonomous Robot Lawn Mower." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1312391797.
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Paul, Johanna. "Design and development of a graphical user interface for the monitoring process of an automated guided vehicle fleet." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281289.
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Many different autonomously driving mobile robots are used for industrial transports of materials or oods in the context of internal logistic processes because of different use cases. The problem for the users that need to monitor the robots is that each manufacturer provides its own graphical user interface (GUI) wi th different operating modes and visual designs, which requires different trainings and constant swi tching between software. Therefore, this paper shows the design and development process of a graphical user interface in the form of a web application for the monitoring process of a fleet of automated guided vehicles from different manufacturers and answers the following question: "What are the main criteria when designing a graphical user interface with high usability for the monitoring process of manufacturer-independent automa ted guided vehicle f leets?” To answer the question, existing graphical user interfaces from different manufacturers were analyzed and interviews with developers and end-users of the GUIs were conducted. Requirements were then derived, on whose basis sketching, wireframing and high-fidelity prototyping have been performed. Usability testing and a heuristic evaluation were chosen to improve the application and its usability continually. As a result, the following six main criteria could be derived that summarize the most essential points to consider when designing such a GUI: administrabi lity, adaptiveness, observability, analyzability, robot and job awareness, and intervention.Många olika autonomt körande mobila robotar används för industriell transport av material eller varor i samband med interna logistiska processer till följd av olika användningsfall. Problemet för de användare som behöver övervaka robotarna är att varje tillverkare tillhandahåller sitt eget grafiska användargränssnitt (GUI) med olika driftsätt och visuella utformningar, vilket kräver olika utbildningar och ständig växling mellan mjukvara. Denna uppsats visar därför design- och utvecklingsprocessen för ett grafiskt användargränssnitt i form av en webbapplikation för övervakningsprocessen för en samling av automatiserade guidade fordon från olika tillverkare, och svarar på följande fråga: "Vilka är de viktigaste kriterierna vid utformningen av ett grafiskt användargränssnitt med hög användbarhet för övervakningsprocessen av automatiserade guidade fordonsamlingar, oboeroande av tillverkare?” För att svara på frågan analyserades befintliga grafiska användargränssnitt från olika tillverkare, samt intervjuer med utvecklare och slutanvändare av GUI:erna utfördes. Krav härleddes sedan, baserat på vilka skisser, wireframing och hifi -prototyper som har utförts. Användbarhetstest och en heuristisk utvärdering valdes för att kontinuerligt förbättra applikationen och dess användbarhet. Som ett resultat kan följande sex huvudkriterier härledas, de sammanfattar de viktigaste punkterna att tänka på när man utformar ett sådant GUI: förmåga att administrera, anpassningsförmåga, observerbarhet, analyserbarhet, robot- och jobbmedvetenhet och intervention.
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Cazangi, Renato Reder. "Sintese de controladores autonomos em robotica movel por meio de computação bio-inspirada." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261234.
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Orientador: Fernando Jose Von ZubenAcompanha CD-ROM
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-13T02:48:36Z (GMT). No. of bitstreams: 1 Cazangi_RenatoReder_D.pdf: 8716830 bytes, checksum: 272657e08f1aeb5622ebeb4412c49048 (MD5) Previous issue date: 2008
Resumo: Novas técnicas de navegação autônoma de robôs móveis visam suprir a crescente demanda pelo emprego de robôs em diversos setores da sociedade e junto a uma ampla gama de tarefas. Os desafios envolvidos no desenvolvimento do sistema que controla o robô permitem afirmar que a inteligência embarcada em robôs atuais ainda encontra-se em um nível incipiente e limitado. Neste trabalho, cinco frentes de pesquisa complementares são propostas visando estudar, teórica e praticamente, aspectos fundamentais de projeto e implementação de controladores autônomos inteligentes para robótica móvel. Metodologias de computação bio-inspirada e de robótica evolutiva provêem os conceitos e ferramentas que fundamentam as cinco propostas, as quais são validadas com base em sistemas de navegação concebidos e aplicados a problemas relevantes da área. Uma série de simulações computacionais em ambientes virtuais e experimentos com robôs reais é realizada, permitindo medir o alcance das contribuições e apontar as principais frentes de atuação que se abrem como perspectivas futuras da pesquisa.
Abstract: Novel techniques for autonomous robot navigation aim at fulfilling the growing demand for mobile robots in multiple segments of society and in a plethora of tasks. The challenges involved in developing the system which controls the robot allow to say that the intelligence embedded in the current robots is found to be still incipient and limited. In this work, five complementary research fronts are proposed intending to study, theoretical and practically, aspects which are fundamental to the design and implementation of intelligent autonomous controllers for mobile robotics. Bio-inspired computing and evolutionary robotics methodologies provide the concepts and tools underlying the five proposals, which are validated through navigation systems devised and applied to important problems. Numerous real robot experiments as well as computational simulations taking place in virtual environments are carried out, allowing for the evaluation of contributions and also the discussion of future possibilities.
Doutorado
Engenharia de Computação
Doutor em Engenharia Elétrica
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Diviccaro, Francesco. "Sicurezza informatica nelle auto con guida autonoma." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2017. http://amslaurea.unibo.it/14309/.
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Numerosi sono i test e i progetti riguardanti le auto con guida autonoma e si prevede che tra qualche anno le vedremo già sul mercato. Questo elaborato vuole offrire informazioni e spunti sulle future implementazioni, evidenziando quanto la tecnologia possa semplificare il modo in cui i veicoli percorreranno le strade. Un focus particolare viene riservato alla sicurezza informatica di questi veicoli, in quanto qualsiasi oggetto dotato di connessione a internet è potenzialmente vulnerabile.
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Leite, Pedro Nuno Barbosa. "A Self-Guided Docking Architecture for Autonomous Surface Vehicles." Master's thesis, 2019. https://hdl.handle.net/10216/121192.
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Autonomous Surface Vehicles (ASVs) provide the ideal platform to further explore the many opportunities in the cargo shipping industry, by making it more profitable and safer. Information retrieved from a 3D LIDAR, IMU, GPS, and Camera is combined to extract the geometric features of the floating platform and to estimate the relative position and orientation of the moor to the ASV. Then, a trajectory is planned to a specific target position, guaranteeing that the ASV will not collide with the mooring facility. To ensure that the sensors are within range of operation, a module has been developed to generate a trajectory that will deliver the ASV to a catch zone where it is able to function properly.A High-Level controler is also implemented, resorting to an heuristic to evaluate if the ASV is within this operating range and also its current orientation relative to the docking platform.
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Machado, João Pedro Soares. "Self-guided vehicles impacts in supply chain." Master's thesis, 2019. http://hdl.handle.net/10362/69209.
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As the world moves towards a place immerse of technology, self-driving capabilities are
becoming a reality for many industries, so does for supply chains. The opportunities are wide
and self-guided vehicles are showing up in many forms, shapes, and sizes. This paper explores
several applications of this technology and their potential impacts in our society, particularly
focused on economic, social and environmental levels, and ultimately in supply chain
management. The future of this technology strongly relies on the ability to flawlessly overcome
several roadblocks, as uncovered in the experts’ interviews.
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Sujit, P. B. "Search Strategies For Multiple Autonomous Agents." Thesis, 2005. http://etd.iisc.ernet.in/handle/2005/1476.
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Wu, Nai-Wen, and 吳乃文. "A Potential-field-based Method for Path Planning of Autonomous Guided Vehicles." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/15265668381751552800.
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碩士國立雲林科技大學
電機工程系碩士班
92
Based on the potential field function, the main purpose of this thesis is to propose a method for path planning of autonomous guided vehicles (AGVs) in an unknown environment. The objective of path planning is to find a collision-free path to navigate the AGVs from an initial configuration to a desired final configuration. To solve the problem of local minimum in potential field function, the concept of “visibility” and the wall-following method are combined. To show the feasibility and validity of the proposed method, compute simulation is included for illustration.
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Chen, Guan-Jhu, and 陳冠竹. "Design of High-Performance GPS-Guided Fuzzy Logic Controllers for Autonomous Unmanned Aerial Vehicles." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/43587260841808712101.
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碩士雲林科技大學
電機工程系碩士班
98
This thesis focuses on the design of a flight control system for an autonomous unmanned fixed-wing aerial vehicle (UAV). The control system consists of an on-board controller as well as a ground station into which the navigation interface together with a Hardware-In-the-Loop (HIL) simulation subsystem are integrated. In this research, the flight controller is designed based on a simplified fuzzy logic system and is implemented on a high-performance DSP target board to realize a stable flight control for an unmanned fixed-wing plane. The ground control station (GCS), on the other hand, is designed specifically to integrate all the control and navigation systems into a user friendly operational interfaces by which it is extremely convenient for command and data manipulations. It also reduces the requirement of hardware of the GCS. X-Plane is wildly used flight simulators that can be employed to predict the flying qualities of aircrafts and examine the performance of controllers without really fly outdoors. Furthermore, the cost of the flight test can be greatly reduced if one can perform the HIL simulation in terms of X-Plane. The experimental results strongly indicate that the HIL simulation using X-Plane is able to successfully ensure the correctness of the control algorithm and the effectiveness of the ground control station. Furthermore, the on-board DSP fuzzy controller is capable of producing appropriate control signals in face of environmental changes to achieve stable flight control.
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Jhen, Jheng-wei, and 陳政瑋. "A Fuzzy Control Based Autonomous Guided Vehicle." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/26084095242862658310.
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碩士龍華科技大學
工程技術研究所
99
This research aims to develop an ultrasound automatic navigation vehicle with the capabilities of path-planning and obstacle avoidance. In this research, two sets of fuzzy controller are applied, the first fuzzy controller uses ultrasonic sensors as the inputs, and the output is the turning angle for obstacle avoidance. The second fuzzy controller uses the turning angle as the input, and the output is the navigation speed. A control kernel based on Microsoft Visual Studio. NET 2003 C++ is developed, and this control kernel is used to control AGV Pioneer 3 - DX to avoid obstacles and reach designated target automatically.
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Mavungu, Masiala. "Nonlinear control of an autonomous vehicle." Thesis, 2014. http://hdl.handle.net/10210/9355.
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M.Sc. (Mathematical Statistics)This dissertation deals with the computation of nonlinear control strategies for an autonomous vehicle. The vehicle consists of two wheels attached to an axle. It is assumed that both wheels roll without slipping leading to nonholonomic constraints. A third order nonlinear kinematic model of the vehicle is derived from these constraints. It is further assumed that the vehicle has builtin feedback controllers independently regulating the rotational velocities of the wheels (using electric motors as actuators). Thus, the vehicle is maneuvered by applying a separate rotational velocity reference command to the feedback controller of each wheel. The closed loop system dynamics from the reference command to the wheel rotational velocity is approximately modelled by a first order system. This leads to a fifth order nonlinear state-space model for the vehicle. The above-mentioned reference commands constitute the control input variables of the vehicle model and are subject to amplitude constraints. Firstly, a methodology is developed for computing reference command strategies to drive the autonomous vehicle from a specified initial state to a desired final state in a given time and such that a circular obstacle is avoided. The vehicle performs the required maneuver whilst satisfying all the specifications and constraints. Secondly, feedback reference command laws are developed such that a specified point just ahead of the vehicle asymptotically tracks a given reference trajectory in the horizontal plane. The feedback control law steers the vehicle onto the reference path from any initial position and keeps it moving on the path. Thirdly, the stochastic system performance is evaluated when the above-mentioned tracking control strategy is applied and the initial state of the vehicle is a random vector.