Tesis sobre el tema "Autonomous vehicle guidance"
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Adolfsson, Alexander y Daniel Arrhenius. "Overseeing Intersection System for Autonomous Vehicle Guidance". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254219.
Texto completoBergquist, Urban. "Colour Vision and Hue for Autonomous Vehicle Guidance". Thesis, Linköping University, Linköping University, Computer Vision, 1999. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-54362.
Texto completoWe explore the use of colour for interpretation of unstructured off-road scenes. The aim is to extract driveable areas for use in an autonomous off-road vehicle in real-time. The terrain is an unstructured tropical jungle area with vegetation, water and red mud roads.
We show that hue is both robust to changing lighting conditions and an important feature for correctly interpreting this type of scene. We believe that our method also can be deployed in other types of terrain, with minor changes, as long as the terrain is coloured and well saturated.
Only 2D information is processed at the moment, but we aim at extending the method to also treat 3D information, by the use of stereo vision or motion.
Naeem, Wasif. "Guidance and control of an autonomous underwater vehicle". Thesis, University of Plymouth, 2004. http://hdl.handle.net/10026.1/2822.
Texto completoMark, Wannes van der. "Stereo and colour vision techniques for autonomous vehicle guidance". [S.l : Amsterdam : s.n.] ; Universiteit van Amsterdam [Host], 2007. http://dare.uva.nl/document/47628.
Texto completoMagrino, Christopher. "Three dimensional guidance for the NPS autonomous underwater vehicle". Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/28610.
Texto completoCloutier, Michael John. "Guidance and control system for an Autonomous Underwater Vehicle". Thesis, Monterey, California. Naval Postgraduate School, 1990. http://hdl.handle.net/10945/30635.
Texto completoThe Naval Postgraduate School (NPS) is currently involved in a long-term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software.
Pears, Nicholas Edwin. "The low-level guidance of an experimental autonomous vehicle". Thesis, Durham University, 1989. http://etheses.dur.ac.uk/6731/.
Texto completoBoulekchour, M. "Robust convex optimisation techniques for autonomous vehicle vision-based navigation". Thesis, Cranfield University, 2015. http://dspace.lib.cranfield.ac.uk/handle/1826/9412.
Texto completoJantapremjit, Pakpong. "A guidance-control approach applied to an autonomous underwater vehicle". Thesis, University of Southampton, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.494914.
Texto completoSubramanian, Vijay. "Autonomous vehicle guidance using machine vision and laser radar for agricultural applications". [Gainesville, Fla.] : University of Florida, 2005. http://purl.fcla.edu/fcla/etd/UFE0011323.
Texto completoChen, Yuanyan. "Autonomous Unmanned Ground Vehicle (UGV) Follower Design". Ohio University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910.
Texto completoRecoskie, Steven. "Autonomous Hybrid Powered Long Ranged Airship for Surveillance and Guidance". Thesis, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/31711.
Texto completoPlew, 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.
Texto completoJourdan, Damien 1978. "Trajectory design and vehicle guidance for a mid-air rendezvous between tow autonomous aircraft". Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/44514.
Texto completoPage 126 blank.
Includes bibliographical references (p. 101-102).
The Parent Child Unmanned Air Vehicles (PCUAV) project is the fruit of a four year collaboration between M.I.T. and the Draper Lab. PCUAV aimed at providing close range observation from a distance using a low cost autonomous system. After defining the concept for the two first years, the PCUAV team focused on a key enabler of the system, the autonomous docking of two aircraft in mid-air. This thesis presents the work done by the author regarding the development of avionics by which the two aircraft can autonomously be guided within 15m, one behind the other. The key features needed to achieve this goal are discussed. First, the design of the trajectory, to be followed by the chasing aircraft, is presented. Then, several options for the guidance of the vehicles are explored and the adaptation of Proportional Navigation for PCUAV is discussed. Finally, the synchronization required to bring the two vehicles in trail and 15m from each other is explained. Flight test results validating this work are also presented.
by Damien Jourdan.
S.M.
Lin, Letian. "Line-of-Sight Guidance for Wheeled Ground Vehicles". Ohio University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1596630464772653.
Texto completoHaroz, Carla (Carla Shariz) 1974. "A predictor-corrector guidance algorithm design for a low L/D autonomous re-entry vehicle". Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/31085.
Texto completoIncludes bibliographical references (p. 171).
The Precision Landing Reusable Launch Vehicle (PL-RLV) is a low L/D, 2-stage craft with a mission plan that calls for low cost, speedy retrieval, and quick turn-around-times for successive flights. A guidance scheme that best adheres to these goals and captures the vehicle's capability is desired. During re-entry, the PL-RLV's second stage, the Precision Landing Vehicle 2 (PLV-2), will perform a reversal maneuver. This thesis concentrates on a possible re-entry guidance scheme for the PLV-2 during the terminal phase, the time from the completion of the reversal until the landing system parachutes are deployed. A simple bank-to-steer algorithm is suggested. The angle of attack is trimmed, and the bank angle (or bank rate) remains as the only means for control. The algorithm controls the time history of the vehicle's bank angle and tunes the bank angle history to meet landing and fuel requirements. This versatile guidance approach employs predictor-corrector methods. The guidance scheme presented generates a possibility of bankrate profiles within limitations that could be used for target acquisition. Selection of a robust target location and the nominal bankrate profile which will yield a minimum target miss are investigated. Testing shows the trade-offs between fuel cost and landing capability. Dispersion testing with winds and density are also performed. The predictor-corrector combination can yield target miss distances on the order of hundreds of feet or less. Open-loop and closed-loop results display the guidance system's ability to capture the PLV-2's capability in the presence of dispersions while still meeting system requirements.
by Carla Haroz.
S.M.
MADASCHI, Matteo Giacomo. "Design and implementation of guidance control system for autonomous light electric vehicles". Doctoral thesis, Università degli studi di Bergamo, 2013. http://hdl.handle.net/10446/28965.
Texto completoMiller, Erik. "Implementation of a Scale Semi-Autonomous Platoon to Test Control Theory Attacks". DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2057.
Texto completoChomel, Christina T. (Christina Tvrdik) 1973. "Design of a robust integrated guidance and control algorithm for the landing of an autonomous reusable launch vehicle". Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/9940.
Texto completoSattigeri, Ramachandra Jayant. "Adaptive Estimation and Control with Application to Vision-based Autonomous Formation Flight". Diss., Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/16272.
Texto completoAribal, Seckin. "Development Of An Autopilot For Automatic Landing Of An Unmanned Aerial Vehicle". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613391/index.pdf.
Texto completoSteepest Descent&rdquo
Algorithm according to the dynamic characteristics of the aircraft. Optimal altitude trajectory is used together with a lateral guidance against cross-wind disturbance. Finally, simulations including landing under crosswind, tailwind, etc., are run and the results are analyzed in order to demonstrate the performance and effectiveness of the controllers.
Hernàndez, Bes Emili. "Path planning with homotopic constraints for autonomous underwater vehicles". Doctoral thesis, Universitat de Girona, 2012. http://hdl.handle.net/10803/83568.
Texto completoAquesta tesi aborda el problema de la planificació de camins per a Vehicles Submarins Autònoms (AUVs) mitjançant la utilització de classes d'homotopia per a proporcionar informació topològica de com els camins eviten els obstacles. Calcular un camí dins d'una classe d'homotopia permet limitar l'espai de cerca accelerant-ne el càlcul de la solució. Donat un workspace amb obstacles, el mètode primer genera les classes homotòpiques. Aquelles classes que probablement contenen les solucions de menor cost s'identifiquen per mitjà d'una heurística sense haver-ne de calcular el camí al workspace. Finalment, un planificador de camins utilitza la informació topològica de les classes d'homotopia per generar solucions segons les classes seleccionades molt ràpidament. El mètode de planificació de camins s’aplica sobre Mapes d’Occupació de Graella (OGMs) millorats amb tècniques de scan matching probabilístic. Els tests i resultats obtinguts tan en escenaris sintètics com en datasets reals mostren la viabilitat del nostre mètode.
Adler, Benjamin [Verfasser] y Jianwei [Akademischer Betreuer] Zhang. "System Design and Real-Time Guidance of an Unmanned Aerial Vehicle for Autonomous Exploration of Outdoor Environments / Benjamin Adler. Betreuer: Jianwei Zhang". Hamburg : Staats- und Universitätsbibliothek Hamburg, 2015. http://d-nb.info/1068931221/34.
Texto completoPrince, Robert A. "Autonomous visual tracking of stationary targets using small unmanned aerial vehicles". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FPrince.pdf.
Texto completo恭史, 山田 y Yasufumi Yamada. "A study on cheap robust sensing for obstacle avoidance guidance based on bio-sonar strategy of bats". Thesis, https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13045017/?lang=0, 2017. https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13045017/?lang=0.
Texto completoBats possess a highly developed biosonar system that can be regarded as the minimum sensor requirement for three-dimensional spatial sensing. The present study 1) experimentally investigated changes in the pulse direction, pulse emission timing and flight path of CF-FM bats during an obstacle avoidance flight as the bats became familiar with the space around them and 2) expressed behavioral principles observed in the bats during flight, especially in an unfamiliar space, using an algorithm and then embedded the principles into an autonomous vehicle equipped with simple ultrasound sensors. The findings of this world-leading biomimetic research offer new possibilities for artificial-intelligence navigation systems.
博士(工学)
Doctor of Philosophy in Engineering
同志社大学
Doshisha University
Wieczorek, Italo de Avila. "A power line detection algorithm to support a fine grain UAV movement guidance". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/163770.
Texto completoPower lines detection in complex environments is one of the most important and challenging tasks in Unmanned Aerial Vehicles (UAV)-based inspections. This work focuses on tackling this challenge by developing a control algorithm to support fine grain UAV control to autonomously guide the aerial platform over the power lines. The proposed algorithm is based on four stages: Image Capturing, Image Filtering, Line Detection and Flight Control. Firstly, the image is cropped to a size that fits all the power lines, then a sequence of filters is applied in the image to reduce noise and highlight these lines. After all the image's pretreatment, a 2D filter with similar shape of a power transmission line is used to extract pixels that belongs to the line's edges. Then, the Hough Transform method detects the line segments in the edges result image. Lastly all the obtained data is used to autonomously guide a UAV over the power transmission lines. The proposed algorithm presents an efficient power transmission lines detecting system to support the autonomous UAV guidance, which presents convincing results.
McDowell, Journey. "Comparison of Modern Controls and Reinforcement Learning for Robust Control of Autonomously Backing Up Tractor-Trailers to Loading Docks". DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2100.
Texto completoLekkas, Anastasios M. "Guidance and Path-Planning Systems for Autonomous Vehicles". Doctoral thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-24998.
Texto completoTanakitkorn, Kantapon. "Guidance, control and path planning for autonomous underwater vehicles". Thesis, University of Southampton, 2017. https://eprints.soton.ac.uk/412635/.
Texto completoBouzid, Yasser. "Guidance and control system for autonomous aerial vehicles navigation". Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLE014.
Texto completoThis thesis deals with the guidance and control of aerial vehicles, which can also ensure missions in hostile, dangerous environments, or inaccessible workspaces with conventional vehicles. First, we are motivated by the coverage scenario, which is in general a long process, requiring a large number of individuals and specific equipment. However, the nature of sensing coverage requires an aerial vehicle with hovering capabilities. For this purpose, we are interested in multirotors that are considered as a good case study to design, analyze and implement flight control strategies.As matter of fact, many challenges are still open with respect to the coverage scenario such as for instance the feasibility and the optimality when passing through the Points of Interest. In addition, a robust control system is essential to mitigate the adverse effects such as the wind. Moreover, designing a control algorithm, which meet some requirements (simplicity, accuracy, consumed energy, etc.) constitutes a complementary challenge. Then, our work introduces a generic mathematical model for multirotors flying under the effect of wind.In a first part, we propose planners using as a basis the optimal Rapidly-exploring Random Tree (RRT*) algorithm. In fact, in large workspaces, a large number of nodes is generated and then increasing the computation time and the consumed memory. To counter these latter, a removal procedure is involved during the rewiring process. In addition, a multidirectional planner that returns a set of optimal paths from a starting point and a set of objective points is proposed. Our work also introduces an optimal Coverage path-planning (CPP) strategy in a constrained workspace. This one proceeds through a two-phases algorithm. In the first one, a Connected Multi-directional planner is used to define the shortest paths from each point to its neighbors. In the second phase, by means of the pair-wise costs between points, the overall shortest path is obtained by solving a Traveling Salesman Problem using Genetic Algorithms. Then, taking into account the limited on-board energy, a Capacitated-Vehicle Routing Problem is adapted and solved by the savings approach.In a second part, we study the design of an effective control system allowing the vehicle to track a trajectory parameterized in time. On the one hand, we propose an extension to nonlinear systems of the Internal Model Control (NLIMC). Our technique is based on the use of the basic IMC principle to synthesize a nonlinear controller that involves the property of flatness. On the other hand, we propose another form of controller whose apparent structure is a PID but in which the technique of sliding modes is incorporated that will also call the nonlinear PID (NLPID). This combination has the advantage to lead to a good level of robustness provided by the sliding modes and at the same time to a good behavior specified by the PID structure. Besides, as a complement, we present two redundant controllers based on two distinct principles in order to boost and to improve the capabilities of any controller. The first one is based on the Model-Free Control (MFC) approach while the second one is based on Dynamic Sliding Mode Controller (DSMC).Finally, to highlight the performance of these controllers, we have performed a series of tests with several illustrations and scenarios and we have drawn up a comparison table with conventional approaches. The results of both the numerical simulations and the experimentation that are performed on a quadrotor are consistent and seem to be quite promising
Bertin, Étienne. "Robust optimal control for the guidance of autonomous vehicles". Electronic Thesis or Diss., Institut polytechnique de Paris, 2022. http://www.theses.fr/2022IPPAE012.
Texto completoThe guidance of a reusable launcher is a control problem that requires both precision and robustness: one must compute a trajectory and a control such that the system reaches the landing zone, without crashing into it or exploding mid-flight, all while using as little fuel as possible. Optimal control methods based on Pontryagin's Maximum Principle can compute an optimal trajectory with great precision, but uncertainties, the discrepancies between estimated values of the initial state and parameters and actual values, cause the actual trajectory to deviate, which can be dangerous. In parallel, set-based methods and notably validated simulation can enclose all trajectories of a system with uncertainties.This thesis combines those two approaches to enclose sets of optimal trajectories of a problem with uncertainties to guarantee the robustness of the guidance of autonomous vehicles.We start by defining sets of optimal trajectories for systems with uncertainties, first for mathematically perfect trajectories, then for the trajectory of a vehicle subject to estimation errors that can use, or not use, sensor information to compute a new trajectory online. Pontryagin's principle characterizes those sets as solutions of a boundary value problem with dynamics subject to uncertainties. We develop algorithms that enclose all solutions of these boundary value problem using validated simulation, interval arithmetic and contractor theory. However, validated simulation with intervals is subject to significant over-approximation that limits our methods. To remedy that we replace intervals by constrained symbolic zonotopes. We use those zonotopes to simulate hybrid systems, enclose the solutions of boundary value problems and build an inner-approximation to complement the classical outer-approximation. Finally, we combine all our methods to compute sets of trajectories for aerospace systems and use those sets to assess the robustness of a control
Tracy, Chisholm C. (Chisholm Cain) 1975. "Integrated entry guidance and control for autonomous reusable launch vehicles". Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/8790.
Texto completoIncludes bibliographical references (p. 163-164).
The guidance and control approach employed on current reusable launch vehicles is based on classical control techniques developed for the Space Shuttle more than 20 years ago. This approach partitions the guidance and control tasks into separate loops resulting in a complex control architecture that can be difficult to adapt to new vehicle designs. A new entry guidance and control technique based on time-invariant linear quadratic regulator theory is presented. This approach integrates the guidance and control functions into a single multivatiable control loop that theoretically should yield improved performance over classical designs and greatly simplify the control architecture. This research is part of a larger effort to develop a next generation guidance and control system that can be implemented onboard the vehicle to increase robustness to unexpected flight conditions and abort scenarios. The integrated guidance and control algorithm is implemented in a nonlinear simulation of the Orbital Sciences X-34, a testbed for reusable launch vehicle technology. The performance and robustness of the linear quadratic regulator algorithm is compared to the classical guidance and control system developed by Orbital Sciences. The results indicate that the overall performance and robustness potential of the integrated guidance and control technique is similar to that of the classical approach. The integration of guidance, control, lateral, and longitudinal dynamics is not observed to yield significant performance improvements under the conditions tested. However, the integrated approach provides an equally effective, simplified control architecture that could allow onboard calculation of control gains in the future to yield a more robust system.
by Chisholm C. Tracy.
S.M.
Kapelios, Ioannis. "Stability of turning rate guidance and control laws for autonomous vehicles". Thesis, Monterey, California. Naval Postgraduate School, 1992. http://hdl.handle.net/10945/23776.
Texto completoGiubilato, Riccardo. "Stereo and Monocular Vision Guidance for Autonomous Aerial and Ground Vehicles". Doctoral thesis, Università degli studi di Padova, 2019. http://hdl.handle.net/11577/3422709.
Texto completoPetrich, Jan. "Improved Guidance, Navigation, and Control for Autonomous Underwater Vehicles: Theory and Experiment". Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/27222.
Texto completoPh. D.
Erekson, Ishmaal T. "Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles". DigitalCommons@USU, 2016. https://digitalcommons.usu.edu/etd/4919.
Texto completoBanks, Alec. "A nature inspired guidance system for unmanned autonomous vehicles employed in a search role". Thesis, Bournemouth University, 2009. http://eprints.bournemouth.ac.uk/15906/.
Texto completoPham, Ngoc Hai. "A Comprehensive Architecture for the Cooperative Guidance and Control of Autonomous Ground and Air Vehicles". Thesis, The University of Sydney, 2007. http://hdl.handle.net/2123/1637.
Texto completoPham, Ngoc Hai. "A Comprehensive Architecture for the Cooperative Guidance and Control of Autonomous Ground and Air Vehicles". University of Sydney, 2007. http://hdl.handle.net/2123/1637.
Texto completoThis thesis deals with the problem of cooperative explorations of a group of autonomous vehicles in unknown environments in the context of decentralized behaviour. The main contribution of this thesis is the development of a comprehensive decentralized cooperative exploration frame work in which each individual vehicle has the ability to explore an unknown environment by itself and also by cooperative behaviour in a team of several vehicles. To simulate the whole system, each individual vehicle will have the ability to explore an unknown environment by dynamically path-planning (with obstacle and collision avoidance), high-level con- trolling, updating the environment map, proposing potential destinations (frontiers), and solving online task assignment. In this thesis, the framework simulates an unknown environment as an occupancy grid map and uses a frontier-base exploration strategy, in which a cell will be marked as a frontier if it is adjacent at least one open cell, as the core architecture. In dealing with the uncertainties in process transition and observation models of autonomous vehicles, the well-known discrete extended Kalman filter (EKF) algorithm is investigated and implemented. When exploring the environment, a vehicle will update its surrounding information, then propose its potential destinations and evaluate the utility (benefit) to travel to each of those destinations. The benefit to go to each destination is derived from the subtraction of the utility (value) of that cell to the sum of the cost to travel to that cell and the steering cost. The key to cooperative exploration in the team of vehicles lies in each vehicle's ability to communicate the updates of the world to the whole team and to contribute to the global list of potential destinations. And each vehicle has the capability of solving the task assignment problem for the team by calling its own online-task-assignment solving engine. This algorithm results each vehicle in having a destination to visit, which benefits the whole team the most and reduces the total exploration time of the team.
Conte, Gianpaolo. "Vision-Based Localization and Guidance for Unmanned Aerial Vehicles". Doctoral thesis, Linköping : Department of of Computer and Information Science, Linköpings universitet, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-17767.
Texto completoGrzywna, Jason Wesley. "A flight testbed with virtual environment capabilities for developing autonomous Micro Air Vehicles". [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008441.
Texto completoKang, Keeryun. "Online optimal obstacle avoidance for rotary-wing autonomous unmanned aerial vehicles". Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44820.
Texto completoRochefort, Yohan. "Méthodes pour le guidage coopératif". Phd thesis, Supélec, 2013. http://tel.archives-ouvertes.fr/tel-00934428.
Texto completoBasso, Maik. "A framework for autonomous mission and guidance control of unmanned aerial vehicles based on computer vision techniques". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/179536.
Texto completoCumputer Vision is an area of knowledge that studies the development of artificial systems capable of detecting and developing the perception of the environment through image information or multidimensional data. Nowadays, vision systems are widely integrated into robotic systems. Visual perception and manipulation are combined in two steps "look" and then "move", generating a visual feedback control loop. In this context, there is a growing interest in using computer vision techniques in unmanned aerial vehicles (UAVs), also known as drones. These techniques are applied to position the drone in autonomous flight mode, or to perform the detection of regions for aerial surveillance or points of interest. Computer vision systems generally take three steps to the operation, which are: data acquisition in numerical form, data processing and data analysis. The data acquisition step is usually performed by cameras or proximity sensors. After data acquisition, the embedded computer performs data processing by performing algorithms with measurement techniques (variables, index and coefficients), detection (patterns, objects or area) or monitoring (people, vehicles or animals). The resulting processed data is analyzed and then converted into decision commands that serve as control inputs for the autonomous robotic system In order to integrate the visual computing systems with the different UAVs platforms, this work proposes the development of a framework for mission control and guidance of UAVs based on computer vision. The framework is responsible for managing, encoding, decoding, and interpreting commands exchanged between flight controllers and visual computing algorithms. As a case study, two algorithms were developed to provide autonomy to UAVs intended for application in precision agriculture. The first algorithm performs the calculation of a reflectance coefficient used to perform the punctual, self-regulated and efficient application of agrochemicals. The second algorithm performs the identification of crop lines to perform the guidance of the UAVs on the plantation. The performance of the proposed framework and proposed algorithms was evaluated and compared with the state of the art, obtaining satisfactory results in the implementation of embedded hardware.
Sabiron, Guillaume. "Synthèse d’une solution GNC basée sur des capteurs de flux optique bio-inspirés adaptés à la mesure des basses vitesses pour un atterrissage lunaire autonome en douceur". Thesis, Toulouse, ISAE, 2014. http://www.theses.fr/2014ESAE0038/document.
Texto completoIn this PhD thesis, the challenge of autonomous lunar landing was addressed and an innovative method was developed, which provides an alternative to the classical sensor suites based on RADAR, LIDAR and cameras, which tend to be bulky, energy consuming and expensive. The first part is devoted to the development of a sensor inspired by the fly’s visual sensitivity to optic flow (OF). The OF is an index giving the relative angular velocity of the environment sensed by the retina of a moving insect or robot. In a fixed environment (where there is no external motion), the self-motion of an airborne vehicle generates an OF containing information about its own velocity and attitude and the distance to obstacles. Based on the “Time of Travel” principle we present the results obtained for two versions of 5 LMSs based optic flow sensors. The first one is able to measure accurately the OF in two opposite directions. It was tested in the laboratory and gave satisfying results. The second optic flow sensor operates at low velocities such as those liable to occur during lunar landing was developed. After developing these sensors, their performances were characterized both indoors and outdoors, and lastly, they were tested onboard an 80-kg helicopter flying in an outdoor environment. The Guidance Navigation and Control (GNC) system was designed in the second part on the basis of several algorithms, using various tools such as optimal control, nonlinear control design and observation theory. This is a particularly innovative approach, since it makes it possible to perform soft landing on the basis of OF measurements and as less as possible on inertial sensors. The final constraints imposed by our industrial partners were met by mounting several non-gimbaled sensors oriented in different gaze directions on the lander’s structure. Information about the lander’s self-motion present in the OF measurements is extracted by navigation algorithms, which yield estimates of the ventral OF, expansion OF and pitch angle. It was also established that it is possible to bring the planetary lander gently to the ground by tracking a pre-computed optimal reference trajectory in terms of the lowest possible fuel consumption. Software-in-the-loop simulations were carried out in order to assess the potential of the proposed GNC approach by testing its performances. In these simulations, the sensor firmware was taken into account and virtual images of the lunar surface were used in order to improve the realism of the simulated landings
Holt, Ryan S. "Three Enabling Technologies for Vision-Based, Forest-Fire Perimeter Surveillance Using Multiple Unmanned Aerial Systems". BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/931.
Texto completoEikenberry, Blake D. "Guidance and navigation software architecture design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) test bed". Thesis, Monterey California. Naval Postgraduate School, 2006. http://hdl.handle.net/10945/2349.
Texto completoBakolas, Efstathios. "Optimal steering for kinematic vehicles with applications to spatially distributed agents". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42873.
Texto completoLu, Wun-You y 盧玟攸. "Intelligent Autonomous Vehicle with LiDAR Guidance". Thesis, 2015. http://ndltd.ncl.edu.tw/handle/22593470212047587117.
Texto completo國立雲林科技大學
機械工程系
103
The thesis presents a method for the automatic interior cruise and obstacle avoidance of Intelligent Autonomous Vehicle (IAV) with the guidance of Light Detection and Ranging sensor (LiDAR). The main point of the thesis is to enhance the cruise speed and obstacle avoidance functions for IAV "Yun-Trip I" and develop its advanced version IAV "Yun-Trip II". The advanced "Yun-Trip II" features chassis from its predecessor, improve computer vision with a single LiDAR as core, adopted ARM-Based embedded system GNU/Linux, and perform cruising calculation and route locating with Microsoft Visual C++. The thesis adopt VFH+ obstacle avoidance algorithm, computing information collected by LiDAR and providing multiple locating methods to help complete interior cruise.
CARPENTIERO, MARCO. "Autonomous vehicle guidance in unknown environments". Doctoral thesis, 2020. http://hdl.handle.net/11573/1360316.
Texto completo