Dissertations / Theses on the topic 'Autonomous vehicle systems'
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Hejase, Mohammad. "Dynamic Probabilistic Risk Assessment of Autonomous Vehicle Systems." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1546473181365722.
Full textChen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.
Full textFithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.
Full textThe 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.
Master of Science
Yan, Jingsheng. "Platoon modal operations under vehicle autonomous adaptive cruise control model." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-07102009-040612/.
Full textKorkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.
Full textEuler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.
Kang, Yong Suk. "Development of Predictive Vehicle Control System using Driving Environment Data for Autonomous Vehicles and Advanced Driver Assistance Systems." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/85106.
Full textPh. D.
Sarton, Christopher J. "Autopilot using differential thrust for ARIES autonomous underwater vehicle." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Jun%5FSarton.pdf.
Full textStrandell, Erstorp Elias. "Evaluation of the LSTS Toolchain for Networked Vehicle Systems on KTH Autonomous Maritime Vehicles." Thesis, KTH, Marina system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-185273.
Full textRAHMAN, SHAHNUR. "Visual Perception in Autonomous Vehicles." Thesis, KTH, Hållbarhet och industriell dynamik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189346.
Full textDen mänskliga faktorn står för nio av tio utav alla trafikolyckor, och eftersom att allt fler fordon kommer ut på vägarna så leder det till att olycksantalet ökar. På grund av detta så har olika automatiserade funktioner applicerats i fordonet för att undvika den mänskliga faktorn i körningen. Denna utveckling har accelererat och fordon som ska kunna utföra hela det dynamiska framförandet utan mänsklig assistans har börjat utvecklas i olika projekt runt om i världen. Dock så har det autonoma fordonet många barriärer kvar att övervinna, för säkert framförande, varav en av dessa barriärer är fordonets förmåga att visuellt uppfatta omgivningen. Dels genom att något kan täcka kamerasensorerna men även att kunna omsätta det sensorerna uppfattar till något värdefullt för passageraren. Situationen skulle dock kunna förbättras om trådlös kommunikation gjordes tillgänglig för det autonoma fordonet. Istället för att försöka uppfatta omgivningen via kamerasensorer, skulle det autonoma fordonet kunna få den information som behövs via trådlös kommunikation, vilket är vad denna studie behandlade. Studien visade att trådlös kommunikation kommer att ha en betydelse för det autonoma fordonet i framtiden. Slutsatsen grundar sig på att trådlös kommunikation varit en lösning inom andra transportsystem som haft en liknande barriär som för det autonoma fordonet. Man planerar dessutom på att hantera det autonoma fordonets barriär via trådlös kommunikation i pilotprojekt i dagsläget
Biondani, Luca. "Control system for agricultural autonomous electric vehicle." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
Find full textWright, Landon Blaine. "Simulation Framework and Potential Field Relocation for Systems of Shared Autonomous Vehicles." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/8629.
Full textEvans, Katherine. "The Implementation of Ethical Decision Procedures in Autonomous Systems : the Case of the Autonomous Vehicle." Thesis, Sorbonne université, 2021. http://www.theses.fr/2021SORUL003.
Full textThe ethics of emerging forms of artificial intelligence has become a prolific subject in both academic and public spheres. A great deal of these concerns flow from the need to ensure that these technologies do not cause harm—physical, emotional or otherwise—to the human agents with which they will interact. In the literature, this challenge has been met with the creation of artificial moral agents: embodied or virtual forms of artificial intelligence whose decision procedures are constrained by explicit normative principles, requiring the implementation of what is commonly called artificial morality into these agents. To date, the types of reasoning structures and principles which inform artificial morality have been of two kinds: first, an ethically maximal vision of artificial morality which relies on the strict implementation of traditional moral theories such as Kantian deontology or Utilitarianism, and second, a more minimalist vision which applies stochastic AI techniques to large data sets of human moral preferences so as to illicit or intuit general principles and preferences for the design of artificial morality. Taken individually, each approach is unable to fully answer the challenge of producing inoffensive behavior in artificial moral agents, most especially since both forms are unable to strike a balance between the ideal set of constraints which morality imposes on one hand, and the types of constraints public acceptability imposes, on the other. We provide an alternative approach to the design of artificial morality, the Ethical Valence Theory, whose purpose is to accommodate this balance, and apply this approach to the case of autonomous vehicles
Plew, Jason. "Development of a flight avionics system for an autonomous Micro Air Vehicle." [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008540.
Full textDarr, Matthew John. "DEVELOPMENT AND EVALUATION OF A CONTROLLER AREA NETWORK BASED AUTONOMOUS VEHICLE." UKnowledge, 2004. http://uknowledge.uky.edu/gradschool_theses/192.
Full textLind, Oros Martin. "Designing for Calibrated Trust Towards Operators of Highly Autonomous Vehicle Systems." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-283355.
Full textLämpliga nivåer av tillit i högautomatiserade fordon bidrar till ökad säkerhet ur ett människa-maskin perspektiv. Genom att förbättra samverkan i automationen kan tillit kalibreras. Ur en människa-maskin relation och den samverkan som sker kan tillit formas med syftet att tillhandahållas på en acceptabel nivå. När kalibrering av tillit misslyckas och inte motsvarar denna nivå, vilket sker när det finns övertro, eller det motsatta, undertro på automationens förmågor kan säkehetsrisker uppstå. Den här studien undersöker vilka tillitsfaktorer som kan påverka designbeslut och designprocesser med syfte att låta användarnas tillitsnivå motsvara systemets förmåga genom fokus på ett människa-maskin gränssnitt. Semi-strukturerade expertintervjuer har lagt grunden till att genomföra en ”workshop” som givit upphov till ett antal koncept för att möjliggöra lämpliga nivåer av tillit. De huvudsakliga resultaten består följaktligen av ett flertal sätt att uppnå transparens samt flera koncept som kan användas för att designa lämpliga nivåer av tillit.
Munoz, Alex. "Exploring Strategies for Adapting Traditional Vehicle Design Frameworks to Autonomous Vehicle Design." ScholarWorks, 2020. https://scholarworks.waldenu.edu/dissertations/7944.
Full textPriestley, 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.
Full textMagnusson, Filip. "Evaluating Deep Learning Algorithms for Steering an Autonomous Vehicle." Thesis, Linköpings universitet, Programvara och system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-153450.
Full textMcAree, Owen. "Autonomous terminal area operations for unmanned aerial systems." Thesis, Loughborough University, 2013. https://dspace.lboro.ac.uk/2134/12535.
Full textVeeramani, Lekamani Sarangi. "Model Based Systems Engineering Approach to Autonomous Driving : Application of SysML for trajectory planning of autonomous vehicle." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254891.
Full textModellbaserade systemteknikens (MBSE) inriktning syftar till att implementera de olika processerna i systemteknik (SE) genom diagram som ger olika perspektiv på samma underliggande system. Detta tillvägagångssätt ger en grund som hjälper till att utveckla ett komplext system på ett systematiskt sätt. Sålunda syftar denna avhandling att härleda en systemmodell genom detta tillvägagångssätt för autonom körning, med särskild inriktning på att utveckla delsystemet som är ansvarigt för att generera en genomförbar ban för en miniatyrbil, som kallas AutoCar, för att göra det möjligt att nå målet. Rapporten ger en bakgrund till MBSE and Systemmodelleringsspråk (SysML) som används för modellering av systemet. Med denna bakgrund, MBSE ramverket för AutoCar är härledt och den övergripande systemdesignen förklaras. I denna rapport förklaras vidare begreppen autonom banplanering följd av en introduktion till Robot Operating System (ROS) och dess tillämpning för systemplanering av systemet. Rapporten avslutas med en detaljerad analys av fördelarna med att använda detta tillvägagångssätt för att utveckla ett system. Det identifierar också bristerna för att tillämpa MBSE på systemutveckling. Rapporten stänger med en omtale om hur det givna projektet kan vidarebefordras för att kunna realisera det på ett fysiskt system.
Young, Stuart Harry. "A Model-Based Framework for Predicting Autonomous Unmanned Ground Vehicle System Performance." Thesis, The George Washington University, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10124164.
Full textThe past decade has seen the rapid development and deployment of unmanned systems throughout the world in both civilian and military applications. Significant development has been led by the Department of Defense (DoD), which has sought to develop and field military systems, such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), with elevated levels of autonomy to accomplish their mission with reduced funding and manpower. As their role increases, such systems must be able to adapt and learn, and make nondeterministic decisions. Current unmanned systems exhibit minimal autonomous behaviors. As their autonomy increases and their behaviors become more intelligent (adapting and learning from previous experiences), the state space for their behaviors becomes non deterministic or intractably complex.
Consequently, fielding such systems requires extensive testing and evaluation, as well as verification and validation to determine a system’s performance and the acceptable level of risk to make it releasable – a challenging task. To address this, I apply a novel systems perspective to develop a model-based framework to predict future system performance based on the complexity of the operating environment using newly introduced complexity measures and learned costs. Herein I consider an autonomous military ground robot navigating in complex off-road environments. Using my model and data from Defense Advanced Research Projects Agency (DARPA)-led experiments, I demonstrate the accuracy with which my model can predict system performance and then validate my model against other experimental results.
Dhake, Pravin. "A real time operating system based test-bed for autonomous vehicle navigation." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.umr.edu/thesis/pdf/Dhake_09007dcc803c20b4.pdf.
Full textVita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed November 28, 2007) Includes bibliographical references (p. 86-87).
Currier, Patrick Norman. "A Method for Modeling and Prediction of Ground Vehicle Dynamics and Stability in Autonomous Systems." Diss., Virginia Tech, 2011. http://hdl.handle.net/10919/27632.
Full textPh. D.
Baity, Sean Marshall. "Development of a Next-generation Experimental Robotic Vehicle (NERV) that Supports Intelligent and Autonomous Systems Research." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/36102.
Full textMaster of Science
Collins, Robert James. "Design of a Helicopter Slung Vehicle for Actuated Payload Placement." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/31882.
Full textMaster of Science
Ireland, Robert D. "Autonomous vehicle systems implications for maritime operations, warfare capabilities, and Command and Control /." Thesis, Monterey, California : Naval Postgraduate School, 2010. http://edocs.nps.edu/npspubs/scholarly/theses/2010/Jun/10Jun%5FIreland.pdf.
Full textThesis Advisor(s): Gallup, Shelley P.; Second Reader: MacKinnon, Douglas J. "June 2010." Description based on title screen as viewed on July 14, 2010. Author(s) subject terms: Machine Autonomy, AVS, USV, UUV, Navy Tactical Task List, Situational Awareness, Congruence Model, Decision Superiority, Maritime ISR. Includes bibliographical references (p. 49-51). Also available in print.
Watts, Christopher Mark. "A comparison study of biologically inspired propulsion systems for an autonomous underwater vehicle." Thesis, University of Glasgow, 2009. http://theses.gla.ac.uk/1672/.
Full textWilliams, Stefan Bernard. "Efficient solutions to autonomous mapping and navigation problems." Connect to full text, 2001. http://hdl.handle.net/2123/809.
Full textTitle 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.
Pizarro, Oscar. "Large scale structure from motion for autonomous underwater vehicle surveys." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/39185.
Full textIncludes bibliographical references (p. 177-190).
Our ability to image extended underwater scenes is severely limited by attenuation and backscatter. Generating a composite view from multiple overlapping images is usually the most practical and flexible way around this limitation. In this thesis we look at the general constraints associated with imaging from underwater vehicles for scientific applications - low overlap, non-uniform lighting and unstructured motion - and present a methodology for dealing with these constraints toward a solution of the problem of large area 3D reconstruction. Our approach assumes navigation data is available to constrain the structure from motion problem. We take a hierarchical approach where the temporal image sequence is broken into subsequences that are processed into 3D reconstructions independently. These submaps are then registered to infer their overall layout in a global frame. From this point a bundle adjustment refines camera and structure estimates. We demonstrate the utility of our techniques using real data obtained during a SeaBED AUV coral reef survey. Test tank results with ground truth are also presented to validate the methodology.
by Oscar Pizarro.
Ph.D.
Woldu, Essayas Gebrewahid, and Fareed Ahmed Jokhio. "Experiments with Vehicle Platooning." Thesis, Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-5621.
Full textThis thesis is concerned with an experimental platform for studying cooperative driving and techniques for embedded systems programming. Cooperative driving systems use vehicle-to-vehicle and vehicle-to-infrastructure communication for safe, smooth and efficient transportation. Cooperative driving systems are considered as a promising solution for traffic situations such as blind crossings. For the thesis work we use a robotic vehicle known as PIE (Platform for Intelligent Embedded Systems) equipped with a wireless communication device, electrical motors and controlled via a SAM7-P256 development board. For the infrastructure side we use a SAM7-P256 development board equipped with nRF24l01. Vehicle to vehicle and base station to vehicle communication is established and different platooning scenarios are implemented. The scenarios are similar to platooning scenarios from the Grand Cooperative Driving Challenge GCDC1. The performance of the platoon control algorithm is measured in terms of throughput (a measure of string stability), smoothness and safety, where the safety requirements serve as pass/fail criteria.
Kepler, Jr Michael Eugene. "Dynamics of a Small Autonomous Underwater Vehicle That Tows a Large Payload." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/84915.
Full textMaster of Science
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.
Full textFreudinger, Lawrence C., Filiberto Macias, and Harold Cornelius. "Frequency Agile Transceiver for Advanced Vehicle Data Links." International Foundation for Telemetering, 2009. http://hdl.handle.net/10150/605968.
Full textEmerging and next-generation test instrumentation increasingly relies on network communication to manage complex and dynamic test scenarios, particularly for uninhabited autonomous systems. Adapting wireless communication infrastructure to accommodate challenging testing needs can benefit from reconfigurable radio technology. Frequency agility is one characteristic of reconfigurable radios that to date has seen only limited progress toward programmability. This paper overviews an ongoing project to validate a promising chipset that performs conversion of RF signals directly into digital data for the wireless receiver and, for the transmitter, converts digital data into RF signals. The Software Configurable Multichannel Transceiver (SCMT) enables four transmitters and four receivers in a single unit, programmable for any frequency band between 1 MHz and 6 GHz.
Aslansefat, K., Sohag Kabir, Amr R. A. Abdullatif, Vinod Vasudevan, and Y. Papadopoulos. "Toward Improving Confidence in Autonomous Vehicle Software: A Study on Traffic Sign Recognition Systems." IEEE, 2021. http://hdl.handle.net/10454/18591.
Full textThis article proposes an approach named SafeML II, which applies empirical cumulative distribution function-based statistical distance measures in a designed human-in-the loop procedure to ensure the safety of machine learning-based classifiers in autonomous vehicle software. The application of artificial intelligence (AI) and data-driven decision-making systems in autonomous vehicles is growing rapidly. As autonomous vehicles operate in dynamic environments, the risk that they can face an unknown observation is relatively high due to insufficient training data, distributional shift, or cyber-security attack. Thus, AI-based algorithms should make dependable decisions to improve their interpretation of the environment, lower the risk of autonomous driving, and avoid catastrophic accidents. This paper proposes an approach named SafeML II, which applies empirical cumulative distribution function (ECDF)-based statistical distance measures in a designed human-in-the-loop procedure to ensure the safety of machine learning-based classifiers in autonomous vehicle software. The approach is model-agnostic and it can cover various machine learning and deep learning classifiers. The German Traffic Sign Recognition Benchmark (GTSRB) is used to illustrate the capabilities of the proposed approach.
This work was supported by the Secure and Safe MultiRobot Systems (SESAME) H2020 Project under Grant Agreement 101017258.
Gadre, Aditya Shrikant. "Observability Analysis in Navigation Systems with an Underwater Vehicle Application." Diss., Virginia Tech, 2007. http://hdl.handle.net/10919/26154.
Full textPh. D.
Luusua, Emil. "Vehicle Detection, at a Distance : Done Efficiently via Fusion of Short- and Long-Range Images." Thesis, Linköpings universitet, Datorseende, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-167073.
Full textLundblad, Oscar. "The autonomous crewmate : A sociotechnical perspective to implementation of autonomous vehicles in sea rescue." Thesis, Linköpings universitet, Interaktiva och kognitiva system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166452.
Full textWARA-PS
Davis, Duane T. "Precision control and maneuvering of the Phoenix autonomous underwater vehicle for entering a recovery tube." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1996. http://handle.dtic.mil/100.2/ADA325015.
Full textThesis advisor(s): Robert McGhee and Don Brutzman. "September 1996." Appendix videotape located at Circulation Desk, call number VHS 5000067. Includes bibliographical references (p. 179-184). Also available online.
Stigenius, Erik. "Map Engine with Route and Slope Prediction for Autonomous Vehicles in Offroad Applications." Thesis, Uppsala universitet, Signaler och System, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-328753.
Full textPettersson, Jesper. "Exploring interaction with unmanned systems : A case study regarding interaction with an autonomous unmanned vehicle." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166302.
Full textMarielle, Gallardo, and Chakraborty Sweta. "DECISION-MAKING FOR AUTONOMOUS CONSTRUCTION VEHICLES." Thesis, Mälardalens högskola, Inbyggda system, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-44250.
Full textRoberson, David Gray. "Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26175.
Full textPh. D.
Wadoo, Sabiha Amin. "Feedback Control and Nonlinear Controllability of Nonholonomic Systems." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/30963.
Full textMaster of Science
Markgren, Jonas. "Creating a self-driving terrain vehicle in a simulated environment." Thesis, Umeå universitet, Institutionen för fysik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-173273.
Full textEvestedt, Niclas. "Sampling Based Motion Planning for Heavy Duty Autonomous Vehicles." Licentiate thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-132769.
Full textMiller, Erik. "Implementation of a Scale Semi-Autonomous Platoon to Test Control Theory Attacks." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2057.
Full textTowler, Jerry Alwynne. "Autonomous Aerial Localization of Radioactive Point Sources via Recursive Bayesian Estimation and Contour Analysis." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/43465.
Full textPerforming this autonomous analysis comprises five major steps: ingress from a base of operations to the danger zone, initial detection of radioactive material, measurement of the strength of radioactive emissions, analysis of the data to provide position and intensity estimates, and finally egress from the area of interest back to the launch site. In all five steps, time is of critical importance: faster responses promise potentially saved lives.
A time-optimal ingress and egress path planning method solves the first and last steps. Vehicle capabilities and instrument sensitivity inform the development of an efficient search path within the area of interest. Two algorithmsâ a grid-based recursive Bayesian estimator and a novel radiation contour analysis methodâ are presented to estimate the position of radioactive sources using simple gross gamma ray event count data from a nondirectional radiation detector. The latter procedure also correctly estimates the number of sources present and their intensities.
Ultimately, a complete unsupervised mission is developed, requiring minimal initial operator interaction, that provides accurate characterization of the radiation environment of an area of interest as quickly as reasonably possible.
Master of Science
Van, Horne Chris. "Machine Vision and Autonomous Integration Into an Unmanned Aircraft System." International Foundation for Telemetering, 2013. http://hdl.handle.net/10150/579707.
Full textThe University of Arizona's Aerial Robotics Club (ARC) sponsors the development of an unmanned aerial vehicle (UAV) able to compete in the annual Association for Unmanned Vehicle Systems International (AUVSI) Seafarer Chapter Student Unmanned Aerial Systems competition. Modern programming frameworks are utilized to develop a robust distributed imagery and telemetry pipeline as a backend for a mission operator user interface. This paper discusses the design changes made for the 2013 AUVSI competition including integrating low-latency first-person view, updates to the distributed task backend, and incremental and asynchronous updates the operator's user interface for real-time data analysis.
Moret, Eric N. "Dynamic Modeling and Control of a Car-Like Robot." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/31535.
Full textThe Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI) is one of many facilities dedicated to the field of Intelligent Transportation Systems (ITS). The goal of the FLASH lab is to provide small-scale development and implementation of autonomous control strategies for today's vehicles.
The current controller used on the scale vehicles is based solely on the kinematics of the system. This body of work was aimed to develop a dynamic control law to enhance the performance of the existing kinematic controller. This control system is intended to automatically maintain the vehicle's alignment on the road as well as keep the speed of the vehicle constant. Implementation of such systems could conceivably reduce driver fatigue by removing nearly all the burden of the driving process from the driver while on the highway.
System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle. The application of working kinematic and dynamic models describing car-like robotic systems allowed the development of a nonlinear controller.
Simulations of the vehicle and controller were done using MATLAB. Comparisons of the kinematic controller and the dynamic controller presented here were also done. In order to make the simulations model the actual system more closely, measures were taken to approximate actual sensor readings.
Master of Science
Batmanian, Saro, and Pasam Naga. "Control and balancing of a small vehicle with two wheels for autonomous driving." Thesis, KTH, Fordonsdynamik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-265618.
Full textReglering och balancering av en inverterad pendel har väckt stor uppmärksamhet över de senaste decennierna på grund av dess instabila egenskaper. Det har skapat stora utmaningar för regleringenjörer eftersom området tillåter test och verifikation av diverese lösningar. För reglering och balansering av en inverterad pendel, så kan en regulator med proportionell, integral och derivat (PID) konstanter eller en linjär kvadratisk regulator (LQR) användas tillsammans med simuleringar för att bekräfta teorin.I och med att stadsbefolkningen ökar i mycket hög takt, så uppstår behovet av att uppfinna nya transportmedel för att lösa framtida utmaningar och krav. Scania har tagit fram en ny konceptbuss som heter NXT, med målet att utveckla ett modulfordon som kommer att konfigurera och rekonfigurera sig själva mellan olika transportuppgifter. NXT-fordonet har fram- och bakdriv-moduler som kan representeras som enaxlade tvåhjuliga fordon, vilka i sin tur kan betraktas som en inverterad pendel med en stor massa. Att reglera och balansera drivmodulen på ett noggrant sätt är en utmaning eftersom det är ett mycket instabilt system med enorm massa och en okänd tyngdpunkt. Systemets beteende har skapat en forskningsfråga om modulen är reglerbar eller inte.Denna uppsats fokuserar därmed på möjligheterna att kunna reglera drivmodulen samt vilka begränsningar det finns. Uppsatsen fokuserar också på konstruktion, modellering, testning och validering av en nedskalad modell, vilka sensorer som krävs för att balansera drivmodulem, samt hur sensorerna måste integreras med systemet för att kunna fjärstyra fordonet från ett visst avstånd. Utveckingen av en sådan nedskalad modell berör olika områden såsom sensorer, BLDC-motorstyrenheter, hoverboard balanserings scootrar, Arduino kretskort och Bluetooth-sändare/mottagare.Uppsasten börjar med en introduction om olika inverterade pendel teorier, Scania NXT project, forskningsmetoder, en översikt och övergripande struktur. Vidare fortsätter beskrivining av relaterade litteratur om inverterade pendel, Segway, hoverboard, borstlösa motor styrenheter och Arduino kretskort. Senare fortsätter processen för att härleda matematiska modeller som beskirver systemet, tillsammans med simuleringar i Matlab, Simulink och Simscape. Därefter beskrivs konstruktionen av en nedskalad modell av drivmodulen och beskrivning av nödvändiga processer för att få hårdvara och mjkukvara att fungera ihop. Då fordonen ska ha möjlighet att fjärrstyras, så implementerades en bluetooth enhet tillsammans med en programmerbar mobil applikation. Slutligen avlutas uppsatsen med resultat, slutsats och diskussioner och förslag till framtida arbeten.