Tesis sobre el tema "Autonomous vehicles"
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Manuzzi, Nicolas. "Autonomous Vehicle and Internet on Vehicles". Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/9211/.
Texto completoPérez, Tellez Adriel y Jonas Roth. "Mobile autonomous ground vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199348.
Texto completoArutselvan, Kuralamudhan. "Assistive Autonomous Ground Vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200530.
Texto completoAnderson, 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.
Texto completoRahman, Md Mahbubar. "Two-Echelon Vehicle Routing Problems Using Unmanned Autonomous Vehicles". Thesis, North Dakota State University, 2017. https://hdl.handle.net/10365/28423.
Texto completoDowd, Garrett E. "Improving Autonomous Vehicle Safety using Communicationsand Unmanned Aerial Vehicles". The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1574861007798385.
Texto completoPedreira, Carabel Carlos Javier. "Terrain Mapping for Autonomous Vehicles". Thesis, KTH, Datorseende och robotik, CVAP, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-174132.
Texto completoAutonoma fordon har blivit spetsen för bilindustrin i dag i sökandet efter säkrare och effektivare transportsystem. En av de viktigaste sakerna för varje autonomt fordon består i att vara medveten om sin position och närvaron av hinder längs vägen. Det aktuella projektet behandlar position och riktning samt terrängkartläggningsproblemet genom att integrera en visuell distansmätnings och kartläggningsmetod. RGB-D kameran Kinect v2 från Microsoft valdes som sensor för att samla in information från omgivningen. Den var ansluten till en Intel mini PC för realtidsbehandling. Båda komponenterna monterades på ett fyrhjuligt forskningskonceptfordon (RCV) för att testa genomförbarheten av den nuvarande lösningen i utomhusmiljöer. Robotoperativsystemet (ROS) användes som utvecklingsmiljö med C++ som programmeringsspråk. Den visuella distansmätningsstrategin bestod i en bildregistrerings-algoritm som kallas Adaptive Iterative Closest Keypoint (AICK) baserat på Iterative Closest Point (ICP) med hjälp av Oriented FAST och Rotated BRIEF (ORB) som nyckelpunktsutvinning från bilder. En rutnätsbaserad lokalkostnadskarta av rullande-fönster-typ implementerades för att få en tvådimensionell representation av de hinder som befinner sig nära fordonet inom ett fördefinierat område, i syfte att möjliggöra ytterligare applikationer för körvägen. Experiment utfördes både offline och i realtid för att testa systemet i inomhus- och utomhusscenarier. Resultaten bekräftade möjligheten att använda den utvecklade metoden för att spåra position och riktning av kameran samt upptäcka föremål i inomhusmiljöer. Men utomhus visades begränsningar i RGB-D-sensorn som gör att den aktuella systemkonfigurationen är värdelös för utomhusbruk.
Dever, Christopher W. (Christopher Walden) 1972. "Parametrized maneuvers for autonomous vehicles". Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/30328.
Texto completoIncludes bibliographical references (p. 197-209).
This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a low-dimensional parameter vector that describes the fundamental high-level variations within the trajectory set. The method follows from a relaxation of nonlinear parametric programming necessary conditions that discards the objective function, leaving a simple coordinatized feasible space including all dynamically admissible vehicle motions. A trajectory interpolation algorithm uses projection and integration methods to create the classes, starting from arbitrary user-provided maneuver examples, including those obtained from standard nonlinear optimization or motion capture of human-piloted vehicle flights. The interpolation process, which can be employed for real-time trajectory generation, efficiently creates entire maneuver sets satisfying nonlinear equations of motion and nonlinear state and control constraints without resorting to iterative optimization. Experimental application to a three degree-of-freedom rotorcraft testbed and the design of a stable feedforward control framework demonstrates the essential features of the method on actual hardware. Integration of the trajectory classes into an existing hybrid system motion planning framework illustrates the use of parametrized maneuvers for solving vehicle guidance problems. The earlier relaxation of strict optimality conditions makes possible the imposition of affine state transformation constraints, allowing maneuver sets to fit easily into a mixed integer-linear programming path planner.
(cont.) The combined scheme generalizes previous planning techniques based on fixed, invariant representations of vehicle equilibrium states and maneuver elements. The method therefore increases the richness of available guidance solutions while maintaining problem tractability associated with hierarchical system models. Application of the framework to one and two-dimensional path planning examples demonstrates its usefulness in practical autonomous vehicle guidance scenarios.
by Christopher Walden Dever.
Ph.D.
RAHMAN, 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.
Texto completoDen 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
Alhuttaitawi, Saif. "Intersection coordination for Autonomous Vehicles". Thesis, Malmö universitet, Fakulteten för teknik och samhälle (TS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-20936.
Texto completoHultgren, Andree y Muhammed Memedi. "Autonomous Vehicles With Obstacle Avoidance". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254202.
Texto completoMikesell, David Russell. "Portable automated driver for universal road vehicle dynamics testing". Columbus, Ohio : Ohio State University, 2008. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1198722243.
Texto completoPhang, Nyit Sin. "Tethered operation of autonomous aerial vehicles to provide extended field of view for autonomous ground vehicles". Thesis, (2 MB), 2006. http://bosun.nps.edu/uhtbin/hyperion.exe/06Dec%5FPhang.pdf.
Texto completo"December 2006." Includes bibliographical references (p. 47-48). Also available online from the Web site of the Naval Postgraduate School (http://www.nps.edu).
Savage, Elizabeth. "Cooperative control of autonomous underwater vehicles". [College Station, Tex. : Texas A&M University, 2003. http://hdl.handle.net/1969.1/236.
Texto completo"Major Subject: Aerospace Engineering" Title from author supplied metadata (automated record created on Jul. 18, 2005.) Vita. Abstract. Includes bibliographical references.
Shanmugavel, Madhavan. "Path planning of multiple autonomous vehicles". Thesis, Cranfield University, 2007. http://dspace.lib.cranfield.ac.uk/handle/1826/1745.
Texto completoSmart, Royce Raymond y roycesmart@hotmail com. "Evolutionary Control of Autonomous Underwater Vehicles". RMIT University. Aerospace, Mechanical and Manufacturing Engineering, 2009. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20090331.143104.
Texto completoHague, Tony. "Motion planning for autonomous guided vehicles". Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358592.
Texto completoPetres, Clement. "Trajectory planning for autonomous underwater vehicles". Thesis, Heriot-Watt University, 2007. http://hdl.handle.net/10399/2091.
Texto completoKala, Rahul. "Motion planning for multiple autonomous vehicles". Thesis, University of Reading, 2013. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.602709.
Texto completoShirasaka, Masahide. "Optimizing safe motion for autonomous vehicles". Thesis, Monterey, California. Naval Postgraduate School, 1994. http://hdl.handle.net/10945/28432.
Texto completoThere are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle's navigation is determined by the clearances between the vehicle and obstacles. Because a Voronoi boundary is the set of points locally maximizing the clearance from obstacles, safety is maximized on it. Therefore Voronoi Diagrams are suitable for motion planning of autonomous vehicles. We use the derivative of curvature k of the vehicle motion (dk/ds) as the only control variable for the vehicle where s is the length along the vehicle trajectory. Previous motion planning of the autonomous mobile robot Yamabico-11 at Naval Postgraduate School used a path tracking method. Before the mission began the vehicle was given a track to follow; motion planning consisted of calculating the point on the track closest to the vehicle and calculating dk/ ds then steering the vehicle to get onto track. We propose a method of planning safe motions of the vehicle to calculate optimal dk/ds at each point directly from the information of the world without calculating the track to follow. This safe navigation algorithm is fundamentally different from the path tracking using a path specification. Additionally motion planning is simpler and faster than the path tracking method. The effectiveness of this steering function for vehicle motion control is demonstrated by algorithmic simulation and by use on the autonomous mobile robot Yamabico 11 at the Naval Postgraduate School
El-Hameid, Hossam Hassan Abd. "Motion parameter estimation for autonomous vehicles". Thesis, Cranfield University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.265750.
Texto completoVengerov, David 1976. "Context-sensitive planning for autonomous vehicles". Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/47510.
Texto completoSchouwenaars, Tom. "Safe trajectory planning of autonomous vehicles". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35298.
Texto completoThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 153-163).
This thesis presents a novel framework for safe online trajectory planning of unmanned vehicles through partially unknown environments. The basic planning problem is formulated as a receding horizon optimization problem using mixed-integer linear programming (MILP) to incorporate kino-dynamic, obstacle avoidance and collision avoidance constraints. Agile vehicle dynamics are captured through a hybrid control architecture that combines several linear time-invariant modes with a discrete set of agile maneuvers. The latter are represented by affine transformations in the state space and can be described using a limited number of parameters. We specialize the approach to the case of a small-scale helicopter flying through an urban environment. Next, we introduce the concept of terminal feasible invariant sets in which a vehicle can remain for an indefinite period of time without colliding with obstacles or other vehicles. These sets are formulated as affine constraints on the last state of the planning horizon and as such are computed online. They guarantee feasibility of the receding horizon optimization at future time steps by providing an a priori known backup plan that is dynamically feasible and obstacle-free.
(cont.) Vehicle safety is ensured by maintaining a feasible return trajectory at each receding horizon iteration. The feasibility and safety constraints are essential when the vehicle is maneuvering through environments that are only partially characterized and further explored online. Such a scenario was tested on an unmanned Boeing aircraft using scalable loiter circles as feasible invariant sets. The terminal feasible invariant set concept forms the basis for the construction of a provably safe distributed planning algorithm for multiple vehicles. Each vehicle then only computes its own trajectory while accounting for the latest plans and invariant sets of the other vehicles in its vicinity, i.e., of those whose reachable sets intersect with that of the planning vehicle. Conflicts are solved in real-time in a sequential fashion that maintains feasibility for all vehicles over all future receding horizon iterations. The algorithm is applied to the free flight paradigm in air traffic control and to a multi-helicopter relay network aimed at maintaining wireless line of sight communication in a cluttered environment.
by Tom Schouwenaars.
Ph.D.
Bahr, Alexander. "Cooperative localization for autonomous underwater vehicles". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/55326.
Texto completoIncludes bibliographical references (p. 133-140).
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.
by Alexander Bahr.
Ph.D.
Hallqvist, Erik y Sebastian Håkansson. "Networked control of autonomous ground vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199347.
Texto completoEhrlin, E. y M. Törnqvist. "Networked control of autonomous ground vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199313.
Texto completoAthari, Kayvan. "Networked control of autonomous ground vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199389.
Texto completoBakutis, Vladas y Qiao Jin. "Networked Control of Autonomous Ground Vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200572.
Texto completoShastry, Akshay Kumar. "Functional Safety Assessment in Autonomous Vehicles". Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/83483.
Texto completoMaster of Science
Shanmugavel, M. "Path planning of multiple autonomous vehicles". Thesis, Cranfield University, 2007. http://hdl.handle.net/1826/1745.
Texto completoWilliams, Douglas L. "Loitering behaviors of autonomous underwater vehicles". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2002. http://library.nps.navy.mil/uhtbin/hyperion-image/02Jun%5FWilliams%5FDouglas.pdf.
Texto completoKeller, Joseph J. "Tracking control of autonomous underwater vehicles". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2002. http://library.nps.navy.mil/uhtbin/hyperion-image/02Dec%5FKeller.pdf.
Texto completoThesis advisor(s): Anthony J. Healey. Includes bibliographical references (p. 67-68). Also available online.
Nicholson, John W. "Autonomous optimal rendezvous of underwater vehicles". Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Sep%5FNicholson.pdf.
Texto completoMarielle, Gallardo y 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.
Texto completoCao, Yongcan. "Decentralized Coordination of Multiple Autonomous Vehicles". DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/652.
Texto completoFrölin, Alexander y Carl Säflund. "Advanced Filter Design for Autonomous Vehicles". Thesis, KTH, Fordonsdynamik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-265620.
Texto completoIntroduceringen av autonoma fordon kommer med många fördelar inom såväl säkerhet som livskvalité; implementationen av denna teknik innebär en mängd utmaningar för ingenjörer inom området. En av dessa utmaningar är kravet på nogrann positionering.Detta examensarbete undersöker först de discipliner inom vetenskapen re-levanta för positioneringsuppgiften för att sedan på detaljnivå beskriva teorin, implementationen och sedan den experimentella utvärderingen av dessa olika estimeringsmetoder. De individuella egenskaperna undersöktes och den opti-mala metoden utsågs för det valda användarfallet; autonoma lastbilar.De valda estimeringsfiltrena var Unscented Kalman Filter (UKF), Control-ler Output Observer (COO) och Washout-filter metoden. Dessa koncept blev utvärderade med hjälp av vägburna experiment varav resultaten visade att bå-de Washout- och COO metoderna delade tydliga nackdelar i jämförelse med det överlägsna UKF konceptet. De experimentellt härledda resultaten ligger till grund för ett nytt föreslaget filterkoncept för att estimera position där två modifierade fordonsfilter kombineras i serie.
SINI, JACOPO. "Novel Validation Techniques for Autonomous Vehicles". Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2950482.
Texto completoZhang, Shangyuan. "Trajectory optimization under uncertainty for autonomous vehicles". Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG044.
Texto completoSignificant progress has been made in the field of autonomous driving and trajectory optimization. One of the key challenges in this field is dealing with the uncertainty in input data and reducing its impact on the decision-making process of trajectory generation. Researchers have dedicated their efforts to building various models that address different types of uncertainties arising from sensor precision and complex driving environments, aiming to enhance the safety of autonomous vehicle technology. This thesis explores different methods for handling uncertainties in trajectory optimization. We begin by analysing adaptive cruise control (ACC) scenarios, where the input data is treated as a random variable. Two optimization models are developed to find optimal trajectories that avoid potential collisions and satisfy all driving constraints. the dependency of the random variable is also investigated through copula theory. Furthermore, we study scenarios where only partial information about the uncertainty is available and apply distributionally robust optimization (DRO) techniques to tackle the problem. In addition to ACC driving scenario, we apply optimal control methods to create a more comprehensive model that considers both safety and effectiveness factors required in different driving scenarios. Numerical simulations based on generated driving scenarios demonstrate that the stochastic model outperforms the deterministic model when the uncertainty is present. We also explore multi-player systems to leverage their properties in collective decision-making for autonomous vehicles. Specifically, we study the n-player chance-constrained game, exploring the existence of Nash equilibrium and its connection with variational inequality. The game is transformed into a nonlinear complementarity problem, which is efficiently solved. Furthermore, we examine the chance-constrained game under DRO and conduct numerical experiments to evaluate their performance
Petillo, Stephanie Marie. "Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles". Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/97772.
Texto completoThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis. Vita.
Includes bibliographical references (pages 203-213).
The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.
by Stephanie Marie Petillo.
Ph. D.
Realpe, Robalino Miguel Andres. "Fault Tolerant Perception for Urban Autonomous Vehicles". Thesis, Griffith University, 2016. http://hdl.handle.net/10072/365655.
Texto completoThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
Griffith School of Engineering
Science, Environment, Engineering and Technology
Full Text
Aksaray, Derya. "Autonomous Hopping Rotochute". Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39578.
Texto completoLackey, Nathan. "Simulating Autonomous Vehicles in a Microscopic Traffic Simulator to Investigate the Effects of Autonomous Vehicles on Roadway Mobility". The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555072367385629.
Texto completoGarro, Alexandra. "Connected Vehicle Co-Simulation for Autonomous Vehicles in Airsim using Ns-3". DigitalCommons@CalPoly, 2021. https://digitalcommons.calpoly.edu/theses/2332.
Texto completoKirsch, Patricia Jean. "Autonomous swarms of unmanned vehicles software control system and ground vehicle testing /". College Park, Md. : University of Maryland, 2005. http://hdl.handle.net/1903/2993.
Texto completoThesis research directed by: Dept. of Electrical and Computer Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
Aulinas, Masó Josep M. "Selective submap joining SLAM for autonomous vehicles". Doctoral thesis, Universitat de Girona, 2011. http://hdl.handle.net/10803/48718.
Texto completoEls algoritmes de localització i creació de mapes simultàniament (Simultaneous Localization and Mapping - SLAM) no produeixen mapes correctes de grans àrees a causa de l'augment gradual de la incertesa en les missions de llarga durada. El cost de computació augmenta a mesura que el mapa creix. Aquesta tesi presenta un estudi de les tècniques de SLAM en entorns grans. També s'estudien aquells treballs centrats en ambients submarins. Es proposa una nova tècnica basada en l'ús de submapes independents i un mapa estocàstic global. Aquesta tècnica s'ha anomenat Unió Selectiva de Submapes en SLAM (SSJS). El mapa global conté les transformacions relatives entre mapes, que s'actualitzen en revisitar zones conegudes. Així doncs, els submapes que comparteixen informació es fusionen, mantenint les correlacions entre el vehicle i les fites. L'ús de submapes redueix el cost de càlcul i millora la consistència del mapa en comparació a les tècniques existents.
Galceran, Yebenes Enric. "Coverage path planning for autonomous underwater vehicles". Doctoral thesis, Universitat de Girona, 2014. http://hdl.handle.net/10803/133832.
Texto completoAquesta tesi proposa nous mètodes per generar camins lliures de col·lisions per a vehicles submarins autònoms que permeten cobrir una àrea del fons de l'oceà usant els sensors del vehicle, tasca coneguda com a planificació de camins de cobertura. Primer, proposem un mètode de planificació de camins de cobertura per a planificar missions en un espai 2D a una altitud segura, proporcionant una manera fonamentada de tenir en compte obstacles en la planificació de missions per a vehicles submarins autònoms. L'avantatge principal del mètode proposat és que minimitza la cobertura redundant sorgida quan el vehicle navega a profunditat constant, obtenint camins més curts com a resultat. Segon, presentem un mètode per tenir en compte la incertesa de les estimacions de posició del vehicle durant la planificació de missions 2D. Aquest mètode minimitza la incertesa induïda pel camí i genera mapes més acurats del fons oceànic com a resultat. Tercer, presentem un mètode de planificació de camins de cobertura adequat per inspeccionar àrees del fons oceànic amb estructures 3D. Els camins de cobertura resultants permeten tasques que requereixen proximitat al fons i permeten una completa percepció 3D de les estructures d'interès. A més, a diferència de la majoria dels mètodes existents, proporcionem dues tècniques per adaptar els camins planificats en temps real utilitzant informació sensorial adquirida durant la missió, per contra de planificar només abans de l'execució de la missió i confiar en la poc realista assumpció d'una execució idealitzada del camí per part del vehicle. Els mètodes proposats han estat validats en simulació i en experiments amb un vehicle submarí autònom real
Chuang, Chien-Liang. "Layered safe motion planning for autonomous vehicles". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1995. http://handle.dtic.mil/100.2/ADA303875.
Texto completoDissertation supervisor(s): Yutaka Kanayama. "September 1995." Includes bibliographical references (p. 219-220). Also available online.
Lerider, Malcolm. "Autonomous Calibration and Control of Mine Vehicles". Thesis, Linköpings universitet, Institutionen för datavetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-91034.
Texto completoBurusa, Akshay Kumar. "Visual-Inertial Odometry for Autonomous Ground Vehicles". Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-217284.
Texto completoMonokulära kameror används ofta vid rörelseestimering av obemannade flygande farkoster. Med det ökade intresset för autonoma fordon har även användningen av monokulära kameror i fordon ökat. Detta är fram för allt fördelaktigt i situationer där satellitnavigering (Global Navigation Satellite System (GNSS)) äropålitlig, exempelvis i dagbrott. De flesta system som använder sig av monokulära kameror har problem med att estimera skalan. Denna estimering blir ännu svårare på grund av ett fordons större hastigheter och snabbare rörelser. Syftet med detta exjobb är att försöka estimera skalan baserat på bild data från en monokulär kamera, genom att komplettera med data från tröghetssensorer. Det visas att simultan estimering av position och skala för ett fordon är möjligt genom fusion av bild- och tröghetsdata från sensorer med hjälp av ett utökat Kalmanfilter (EKF). Estimeringens konvergens beror på flera faktorer, inklusive initialiseringsfel. En noggrann estimering av skalan möjliggör också en noggrann estimering av positionen. Detta möjliggör lokalisering av fordon vid avsaknad av GNSS och erbjuder därmed en ökad redundans.
Azmat, Muhammad. "Impact of autonomous vehicles on urban mobility". Institut für Transportwirtschaft und Logistik, WU Wien, 2015. http://epub.wu.ac.at/4633/1/WU_MSc_SCM_Master_Thesis.pdf.
Texto completoSeries: Schriftenreihe des Instituts für Transportwirtschaft und Logistik - Verkehr