Tesis sobre el tema "Electric autonomous vehicles"
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Iacobucci, Riccardo. "Shared Autonomous Electric Vehicles: potential for Power Grid integration". Kyoto University, 2018. http://hdl.handle.net/2433/235105.
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新制・課程博士
博士(エネルギー科学)
甲第21385号
エネ博第373号
新制||エネ||73(附属図書館)
京都大学大学院エネルギー科学研究科エネルギー社会・環境科学専攻
(主査)教授 手塚 哲央, 教授 下田 宏, 准教授 MCLELLAN,Benjamin
学位規則第4条第1項該当
Riccardo, Iacobucci. "Shared Autonomous Electric Vehicles: potential for Power Grid integration". Doctoral thesis, Kyoto University, 2009. http://hdl.handle.net/2433/235105.
Texto completo0048
新制・課程博士
博士(エネルギー科学)
甲第21385号
エネ博第373号
新制||エネ||73(附属図書館)
京都大学大学院エネルギー科学研究科エネルギー社会・環境科学専攻
(主査)教授 手塚 哲央, 教授 下田 宏, 准教授 MCLELLAN,Benjamin
学位規則第4条第1項該当
Doctor of Energy Science
Kyoto University
DFAM
Trask, Simon J. "Systems and Safety Engineering in Hybrid-Electric and Semi-Autonomous Vehicles". The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555521147257702.
Texto completoJonasson, Mats. "Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles". Doctoral thesis, KTH, Fordonsdynamik, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-11005.
Texto completoQC 20100722
Shaikh, Palwasha Waheed. "Intelligent Infrastructures for Charging Reservation and Trip Planning of Connected Autonomous Electric Vehicles". Thesis, Université d'Ottawa / University of Ottawa, 2021. http://hdl.handle.net/10393/42735.
Texto completoAdler, Martin, Stefanie Peer y Tanja Sinozic. "Autonomous, connected, electric shared vehicles (ACES) and public finance: An explorative analysis". Elsevier, 2019. http://epub.wu.ac.at/7200/1/main.pdf.
Texto completoMADASCHI, 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 completoMathur, Kovid. "Conversion of a Hybrid Electric Vehicle to Drive by Wire Status". University of Cincinnati / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1291147552.
Texto completoGangadharan, Athul. "An Evaluation of Automatic Test Case Generation strategy from Requirements for Electric/Autonomous Vehicles". Thesis, Uppsala universitet, Institutionen för informatik och media, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-419583.
Texto completoFishelson, James. "Platooning Safety and Capacity in Automated Electric Transportation". DigitalCommons@USU, 2013. https://digitalcommons.usu.edu/etd/1949.
Texto completoHerrenkind, Bernd, Alfred Benedikt Brendel, Ilja Nastjuk, Maike Greve y Lutz M. Kolbe. "Investigating end-user acceptance of autonomous electric buses to accelerate diffusion". Elsevier, 2019. https://publish.fid-move.qucosa.de/id/qucosa%3A75922.
Texto completoMartínez, Arias Ronald Ricardo 1983. "Modelagem de um dirigível robótico com propulsão elétrica de quatro motores". [s.n.], 2014. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265786.
Texto completoDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: No presente trabalho, o modelo dinâmico do dirigível do Projeto AURORA (Gomes e Ramos, 1998), (Azinheira et al., 2001) e (Azinheira et al., 2008) é adaptado para considerar 4 motores ao invés de 2 apenas. Além disso, esses motores possuem acionamento elétrico (DC-Brushless) ao invés de propulsão por motor de combustão. Esses motores poderão trabalhar em acionamento diferencial, ou seja, motores frente-trás ou esquerda-direita com forças de propulsão diferentes, com a finalidade de gerar momentos e forças que complementem os demais atuadores do dirigível, como as superfícies de cauda ou leme. Duas inovações principais caracterizam esse novo sistema. O primeiro ponto é a utilização de quatro propulsores vetorizáveis ao invés de apenas dois como o usual. O segundo ponto é a angulação de 20 [graus] presente na fixação dos propulsores. Essa angulação faz com que, ao ser vetorizado para cima, cada propulsor gere uma componente de força lateral, além das componentes longitudinal e vertical. Se a intensidade da força gerada em cada propulsor for a mesma, obviamente as forças laterais geradas num par de propulsores se cancelam, e temos uma situação parecida com a atuação clássica de dirigíveis, gerando forças apenas para frente e para cima. Mas se, por outro lado, as intensidades de força nos propulsores de um dado par (dianteiro ou traseiro) forem diferentes, então forças resultantes laterais (bem como momentos) podem ser obtidos no CV (Centro de Volume) do dirigível. Assim, se o par de propulsores dianteiros gera uma componente lateral de forças para a direita, por exemplo, e o par traseiro gera uma componente lateral para a esquerda, então temos a geração de um momento de guinada positivo (horário), supondo obviamente que os motores encontram-se vetorizados. Essa é a chamada propulsão diferencial esquerda-direita que permite a geração de momentos de guinada em baixas velocidades, de tal forma compensar a baixa eficiência aerodinâmica da cauda com pouca incidência de ar (vento relativo). Outra possibilidade é a geração da propulsão diferencial dianteira-traseira, onde ambos propulsores dianteiros fornecem força de igual intensidade, mas de amplitude diferente daquela gerada pelos propulsores traseiros. As forças laterais são canceladas, mas um novo momento de arfagem pode ser gerado, e com um grau de liberdade a mais do que na situação onde se usava apenas dois propulsores vetorizáveis. Podemos obter inclusive um momento de arfagem no dirigível e ainda mantê-lo na posição "nivelada" de ângulo de arfagem (pitch) nulo. O uso da propulsão diferencial dianteira-traseira permite também obter uma mudança contínua e suave nas forças e momentos ao se variar a velocidade de operação do dirigível (airspeed). Evita-se assim a transição brusca de atuação que é observada quando o dirigível, na configuração clássica de apenas dois motores, passa das baixas velocidades (usando vetorização) para as altas velocidades (dispensando vetorização). Dessa forma, tanto a propulsão diferencial lateral (esquerda-direita), como a longitudinal (traseira-dianteira) obtida com essa configuração inédita, permite gerar momentos e forças que complementam os demais atuadores do dirigível, como as superfícies de cauda ou leme. Ressalta-se que as diferentes configurações de propulsão motora como essa proposta aqui considerada (de domínio do Projeto DRONI) poderão aumentar a eficiência e desempenho das abordagens de controle linear e não linear já desenvolvidas previamente no âmbito do Projeto AURORA
Abstract: In this paper masters, the dynamic model of AURORA Project airship (Gomes e Ramos, 1998), (Azinheira et al., 2001) and (Azinheira et al., 2008) is adapted to consider 4 engines instead of 2. Furthermore, those engines as electric start (DC-Brushless) instead of propulsion combustion engine. Engines can work with differential start, that is, front-back or left-right engines with different thrust forces. It has the purpose of generating forces and torques which complement other airship actuators, such as the tail and rudder surfaces. Two main innovations characterize this new system. First, it uses four thrusters with thrust vector control instead of just two as usual. Second, it is the 20 [degrees] angulation that is present in the thrusters setting. This angulation allows each thruster generates a lateral force component besides the longitudinal and vertical components when thrusters are vectorized upward. If the amount of force generated in each thruster is the same, obviously, the addition of lateral forces generated in a pair of thrusters will be zero, and we will have a similar situation with the classic airship performance, generating forces only forward and up. But if the amount of force on thrusters on a given pair (front or back) are different, then resulting lateral force (and torques) can be obtained on airship CV (Volume Center). Thus, if the front pair of thrusters generates a lateral force component to the right, for example, and the rear pair generates a lateral component to the left, we have a generation of yaw torque positive (clockwise), obviously assuming that the engines are vectorized. This is called the differential thrust left-right which allows the generation of yaw torques on low speeds, in order to compensate a low aerodynamic efficiency of tail with little air effect (relative wind). Another possibility is the generation of the differential thrust front-back, where both front thrusters provide equal amount of force, but with a different amplitude than the force generated by the rear thrusters. The lateral forces are canceled, but a new pitch torque can be generated, and with a degree of freedom more than in the situation where it was used only two thrusters with thrust vector control. We can get even a pitch torque on the airship and still keeping it on null pitch angle position. The use of diferential thrust front-back allows also getting a slight and continuous change on the forces and torques when is varied the airship operation speed (airspeed). It avoids the abrupt transition of performance that is observed when the airship, on classic configuration of only two engines, goes through from low speeds (using vectoring) to high speeds (dispensing vectorization). Thus, both the differential thrust lateral (left-right) as the longitudinal (front-back) obtained with this configuration unprecedented, it allows to generate torques and forces that complementing the other airship actuators, such as tail surfaces or rudder. It should be noted that different confiurations of thrust (Project DRONI) may increase the efficiency and performance of linear control approaches and nonlinear previously carried out under the AURORA Project
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
Gupta, Shobhit. "Look-Ahead Optimization of a Connected and Automated 48V Mild-Hybrid Electric Vehicle". The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1554478434629481.
Texto completoSovacool, Benjamin K. y Jonn Axsen. "Functional, symbolic and societal frames for automobility: Implications for sustainability transitions". Elsevier, 2018. https://publish.fid-move.qucosa.de/id/qucosa%3A72765.
Texto completoCordeiro, Rafael de Angelis 1986. "Modelagem e controle de trajetória de um veículo robótico terrestre de exterior". [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263856.
Texto completoDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: Veículos terrestres autônomos tem recebido uma atenção especial dos estudos de robótica nos últimos anos. Suas aplicações incluem segurança na condução, exploração de locais inóspitos e automatização agrícola. O enfoque deste trabalho situa-se no projeto VERO, em parceria com o CTI, e tem por objetivo o desenvolvimento de aplicações de controle de trajetória para um veículo do tipo todo-terreno. Para tal, um modelo completo (dinâmico e tridimensional) é desenvolvido, com uma atenção especial para os modelos de interação entre solo e pneu, responsáveis pelas forças não lineares atuantes sobre o veículo. Em seguida, dois modelos reduzidos e linearizados são obtidos e estes são utilizados para a síntese de controladores LQR. Uma comparação entre os controladores é realizada e a resposta de um deles é detalhada para uma análise sobre a influência das características do modelo veicular sobre o controle do veículo. Por fim, três abordagens são propostas para melhorar a resposta obtida pelos controladores
Abstract: Autonomous ground vehicles have received special attention from robotics studies in past years. Their applications include advanced driver assistance systems (ADAS), exploration of inhospitable environments and harvest autonomous machines. In partnership with CTI, this master's thesis focuses in the development of path tracking controllers applied to off-road vehicles. In order to simulate vehicle characteristics, a complete three-dimensional nonlinear dynamic model was proposed with emphasis on tire-road interaction models, which are responsible for most of the vehicle's nonlinearities. In sequence, two vehicle reduced linear models are presented and applied to synthesize LQR controllers, whose results are compared. One of them was chosen to analyze the effect of vehicles's three-dimensional dynamics on path tracking control. Finally, three different approaches are proposed to enhance controllers performance
Mestrado
Planejamento de Sistemas Energeticos
Mestre em Engenharia Mecânica
Valenti, Giammarco. "Cooperative ADAS and driving, bio-inspired and optimal solutions". Doctoral thesis, Università degli studi di Trento, 2022. http://hdl.handle.net/11572/336890.
Texto completoNicolaides, Doros. "Power infrastructure requirements for road transport electrification". Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/280689.
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 completoSilva, José João Prata Oliveira Laranjeira da. "Tendências no uso de soluções disruptivas de transporte urbano de passageiros". Master's thesis, Instituto Superior de Economia e Gestão, 2018. http://hdl.handle.net/10400.5/16569.
Texto completoA disrupção ao nível da mobilidade está associada a potenciais benefícios socioeconomicos e ambientais. Dentro das tecnologias emergentes, destacam-se os veículos elétricos, veículos autónomos e as plataformas tecnológicas de mobilidade que interligam potenciais utilizadores e modos de transporte (passageiros e condutores) num contexto de maior eficiência, menores externalidades ambientais e partilha de recursos (e.g. serviços de car sharing elétrico) (Sprei, 2017). Este estudo tem como objetivo dar um contributo académico para o grande desafio da mobilidade sustentável nas cidades (onde se concentra mais de 70% da população europeia). Como forma de antecipar as mudanças e benefícios esperados face às profundas alterações que o transporte urbano de passageiros tem sido alvo, bem como aquelas que terá de realizar a curto-prazo é utilizada a Gestão de Benefícios (GB). Esta ferramenta de gestão integra a metodologia do estudo na medida em que apresenta uma aplicabilidade reconhecida em projetos tecnológicos, permitindo mapear as mudanças derivadas da introdução dos processos tecnológicos, monitorizando os benefícios préviamente identificados (e.g. mobilidade sustentável; descarbonização da mobilidade urbana). Por forma a validar este mapeamento, desenvolveu-se um inquérito, específicamente, desenhado para os stakeholders no âmbito da Mobilidade Sustentável no Área Metropolitana de Lisboa. O resultado deste estudo traduz-se num Roadmap para a descarbonização do transporte urbano de passageiros até 2030, que os vários stakeholders podem prosseguir para atingir a descabornização da mobilidade.
The mobility disruption comprises technological and concept issues. Emerging technologies such as electric-autonomous vehicles and mobility platforms (that connect potential user's passengers and drivers) aim to increase efficiency, reduce pollution and, simultaneously, increase the sharing trips. This study aims to pursuit the sustainable mobility in cities (where is located 70% of European population) and use the benefit management tool in order to consider social aspects in face of deep changes that passenger transport sector has been dealing. Benefit management is frequently used in technological projects since has the predictive ability for changes, allowing to develop a benefits dependence network. The results of this work is a roadmap, which as the potential to define a path/strategy for stakeholders achieve the mobility descarbonization. Additionally, this study consider a 2030 horizon and the benefits management results are not possible to achieve.
info:eu-repo/semantics/publishedVersion
Solano, Araque Edwin. "De l’ergonomie automobile à l’optimisation de la conduite automatisée. Application à l’écoconduite des véhicules électriques". Thesis, Orléans, 2020. http://www.theses.fr/2020ORLE3059.
Texto completoIn the framework of this dissertation, we will focus on Eco-driving and, particularly on eco-maneuvers, taking into account constraints associated to infrastructure and traffic, as well as with drivability. Additionally, we will take inspiration on Cognitive Principles for the algorithm design; it will allow to reinforce algorithm’s effectiveness and modularity. Easiness of calibration will also be an important concern for our work. Our whole discussion focuses on Battery Electric Vehicles. However, the proposed principles may be adapted for their application for other types of powertrain.Our work treats three main topics: on one side, Driving Ergonomics, allowing to determine some criteria on drivability ; we will also propose a modelling of the driver allowing to take into account ergonomics considerations. Finally, we will assess our hypothesis with respect with driver behavior on real situations, by applying an innovative methodology for the analysis of actual driving records. Next we will focus on Energy Model of the vehicle and of driving maneuvers, as well as to the assessment of energy gain potential associated to several Eco-driving strategies; the origin of these gains is also studied. Finally, we propose a Control Algorithm allowing to execute driving eco-maneuvers, while taking into account drivability criteria. The global algorithm structure is based on cognitive principles presented earlier. These function consists of several subsystems, which improves its modularity, and enforces its potential to operate within real-time constraints, and simplifies calibrations ; these both are major advantages for an industrial application
Anderson, Jonathan D. "Semi Autonomous Vehicle Intelligence: Real Time Target Tracking For Vision Guided Autonomous Vehicles". Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1750.pdf.
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 completoBiondani, Luca. "Control system for agricultural autonomous electric vehicle". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
Buscar texto completoGambhira, Ullekh Raghunatha. "Powertrain Optimization of an Autonomous Electric Vehicle". The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1532039436244217.
Texto completoPinnecke, Leif, Arne Brix y Wilfried Hofmann. "Prädiktive Betriebsstrategie eines hybriden Energiespeichersystems in autonomen Elektrofahrzeugen". TU Bergakademie Freiberg, 2019. https://tubaf.qucosa.de/id/qucosa%3A38462.
Texto completoThis paper presents an operating strategy for a hybrid energy storage system using the prediction of future driving conditions by an autonomous vehicle. This allows to reduce the losses compared to conventional strategies that do not use predictions. To implement these functions, three hierarchy levels have been defined. The top level is the energy strategy and determines the long-term state of charge of the capacitor using the predictions. It gives the power strategy, the middle level, a target charge level and a target time at which this state of charge should be reached. The power strategy determines the current power distribution using a model predictive approach and stationary loss optimization. The lowest hierarchical level is the power control of the DC/DC converter used. This adjusts the capacitor power according to the specification of the power strategy. With the help of this approach and a forecast of maximum 12 s, the losses could be reduced by12 % compared to a rule-based strategy without a forecast. In comparison to a globally optimized solution achieved by dynamic programming, the new strategy generates 8 % more losses.
Busch, Regardt. "Modelling and simulation of an autonomous underwater vehicle". Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2429.
Texto completoIn this thesis the mathematical modelling and simulation of an autonomous underwater vehicle is presented. A generic six degree of freedom model suitable for AUV control applications is presented. This model is then tailored to the AUV testbed developed by IMT. The model parameters are determined from vehicle geometry alone. In addition to this, a linear model is presented and analysed in order to determine the modes of motion for AUV. The development of a generic visualisation system suitable for underwater vehicle simulations is also presented. A generic MATLAB based AUV simulation system is developed, and used to supply the visualisation system with the necessary simulation data. Lastly, two example simulations are shown
Norrsjö, Viktor y Viktor Stenberg. "PID Controllers for Autonomous Vehicle Path Following". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214711.
Texto completoGlamheden, Mikael y Simon Eriksson. "Autonomous Trajectory Tracking for a Differential Drive Vehicle". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-239351.
Texto completoTuul, Viktor y John Dahlberg. "Intelligent Traffic Intersection Management Using Motion Planning for Autonomous Vehicles". Thesis, KTH, Skolan för teknikvetenskap (SCI), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214714.
Texto completoVengerov, David 1976. "Context-sensitive planning for autonomous vehicles". Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/47510.
Texto completoPennycooke, Nicholas (Nicholas D. ). "AEVITA : designing biomimetic vehicle-to-pedestrian communication protocols for autonomously operating & parking on-road electric vehicles". Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/77810.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (p. 125-127).
With research institutions from various private, government and academic sectors performing research into autonomous vehicle deployment strategies, the way we think about vehicles must adapt. But what happens when the driver, the main conduit of information transaction between the vehicle and its surroundings, is removed? The EVITA system aims to fill this communication void by giving the autonomous vehicle the means to sense others around it, and react to various stimuli in as intuitive ways as possible by taking design cues from the living world. The system is comprised of various types of sensors (computer vision, UWB beacon tracking, sonar) and actuators (light, sound, mechanical) in order to express recognition of others, announcement of intentions, and portraying the vehicle's general state. All systems are built on the 2 nd version of the 1/2 -scale CityCar concept vehicle, featuring advanced mixed-materials (CFRP + Aluminum) and a significantly more modularized architecture.
by Nicholas Pennycooke.
S.M.
Ni, Houbo. "Realistic Modelling of Ultrasound Sensing for Autonomous Vehicles". Thesis, Linköpings universitet, Elektroniska Kretsar och System, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-162002.
Texto completoAdolfsson, 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 completoMienie, Dewald. "Autonomous docking for a satellite pair using monocular vision". Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2382.
Texto completoAutonomous rendezvouz and docking is seen as an enabling technology. It allows, among others, the construction of larger space platforms in-orbit and also provides a means for the in-orbit servicing of space vehicles. In this thesis a docking sequence is proposed and tested in both simulation and practice. This therefore also requires the design and construction of a test platform. A model hovercraft is used to emulate the chaser satellite in a 2-dimensional plane as it moves relatively frictionlessly. The hovercraft is also equipped with a single camera (monocular vision) that is used as the main sensor to estimate the target’s pose (relative position and orientation). An imitation of a target satellite was made and equipped with light markers that are used by the chaser’s camera sensor. The position of the target’s lights in the image is used to determine the target’s pose using a modified version ofMalan’s Extended Kalman Filter [20]. This information is then used during the docking sequence. This thesis successfully demonstrated the autonomous and reliable identification of the target’s lights in the image, and the autonomous docking of a satellite pair using monocular camera vision in both simulation and emulation.
Tomasi, Alessandro. "Reliable communication in mine environments for autonomous vehicles". Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-202734.
Texto completoAutomatiseringen i gruvindustrin har potentialen att öka säkerheten och produktiviteten samtidigt som den förbättrar arbetsvillkoren. Malmtransporten inne i gruvan är en repetitiv uppgift som passar bra att bli utbytt av en autonom gruvtransport som är i drift dygnet runt. Scania, en av de världsledande inom hållbara tranportlösningar, undersöker just nu denna typ av fordon. Den självstyrande driften aktiveras genom att ett flertal teknologier installeras på fordonet, inklusive ett kommunikationssystem som är ämne för denna avhandling. Anslutningen mellan fordonen är nödvändig för att kunna samordna banor och ge information i för uppdraget kritiska lägen. I denna avhandling, efter att ha identifierat svårigheterna med en trådlös utbredning i gruvor, är kommunikationsteknologin vald och möjliga antennkonfigurationer och kommunikationsräckvidder funna. Genom numeriska länkbudgetsimuleringar och efterföljande räckviddsmätningar, har det potentiella kommunikationsområdet för detta fordon kvantifierats. Resultaten visar effektiviteten av mångfald när det gäller höjd när man utvidgar kommunikationsområdet. Slutligen diskuteras prestandaförsämringen orsakad av damm som ackumulerats på antennerna.
Kaba, Mohamed. "Controlled Autonomous Vehicle Drift Maneuvering". The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909.
Texto completoCao, Yongcan. "Decentralized Coordination of Multiple Autonomous Vehicles". DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/652.
Texto completoHough, Willem J. "Autonomous aerobatic flight of a fixed wing unmanned aerial vehicle". Thesis, Link to online version, 2007. http://hdl.handle.net/10019/428.
Texto completoHebib, Jasmina y Sofie Dam. "Vehicle Dynamic Models for Virtual Testing of Autonomous Trucks". Thesis, Linköpings universitet, Fordonssystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-155513.
Texto completoVan, Daalen Corne Edwin. "Conflict detection and resolution for autonomous vehicles". Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/3994.
Texto completoENGLISH ABSTRACT: Autonomous vehicles have recently received much attention from researchers. The prospect of safe and reliable autonomous vehicles for general, unregulated environments promises several advantages over human-controlled vehicles, including increased efficiency, reliability and capability with the associated decrease in danger to humans and reduction in operating costs. A critical requirement for the safe operation of fully autonomous vehicles is their ability to avoid collisions with obstacles and other vehicles. In addition, they are often required to maintain a minimum separation from obstacles and other vehicles, which is called conflict avoidance. The research presented in thesis focuses on methods for effective conflict avoidance. Existing conflict avoidance methods either make limiting assumptions or cannot execute in real-time due to computational complexity. This thesis proposes methods for real-time conflict avoidance in uncertain, cluttered and dynamic environments. These methods fall into the category of non-cooperative conflict avoidance. They allow very general vehicle and environment models, with the only notable assumption being that the position and velocity states of the vehicle and obstacles have a jointly Gaussian probability distribution. Conflict avoidance for fully autonomous vehicles consists of three functions, namely modelling and identification of the environment, conflict detection and conflict resolution. We present an architecture for such a system that ensures stable operation. The first part of this thesis comprises the development of a novel and efficient probabilistic conflict detection method. This method processes the predicted vehicle and environment states to compute the probability of conflict for the prediction period. During the method derivation, we introduce the concept of the flow of probability through the boundary of the conflict region, which enables us to significantly reduce the complexity of the problem. The method also assumes Gaussian distributed states and defines a tight upper bound to the conflict probability, both of which further reduce the problem complexity, and then uses adaptive numerical integration for efficient evaluation. We present the results of two simulation examples which show that the proposed method can calculate in real-time the probability of conflict for complex and cluttered environments and complex vehicle maneuvers, offering a significant improvement over existing methods. The second part of this thesis adapts existing kinodynamic motion planning algorithms for conflict resolution in uncertain, dynamic and cluttered environments. We use probabilistic roadmap methods and suggest three changes to them, namely using probabilistic conflict detection methods, sampling the state-time space instead of the state space and batch generation of samples. In addition, we propose a robust and adaptive way to choose the size of the sampling space using a maximum least connection cost bound. We then put all these changes together in a proposed motion planner for conflict resolution. We present the results of two simulation examples which show that the proposed motion planner can only find a feasible path in real-time for simple and uncluttered environments. However, the manner in which we handle uncertainty and the sampling space bounds offer significant contributions to the conflict resolution field
AFRIKAANSE OPSOMMING: Outonome voertuie het die afgelope tyd heelwat aandag van navorsers geniet. Die vooruitsig van veilige en betroubare outonome voertuie vir algemene en ongereguleerde omgewings beloof verskeie voordele bo menslik-beheerde voertuie en sluit hoër effektiwiteit, betroubaarheid en vermoëns asook die gepaardgaande veiligheid vir mense en laer bedryfskoste in. ’n Belangrike vereiste vir die veilige bedryf van volledig outonome voertuie is hul vermoë om botsings met hindernisse en ander voertuie te vermy. Daar word ook dikwels van hulle vereis om ’n minimum skeidingsafstand tussen hulle en die hindernisse of ander voertuie te handhaaf – dit word konflikvermyding genoem. Die navorsing in hierdie tesis fokus op metodes vir effektiewe konflikvermyding. Bestaande konflikvermydingsmetodes maak óf beperkende aannames óf voer te stadig uit as gevolg van bewerkingskompleksiteit. Hierdie tesis stel metodes voor vir intydse konflikvermyding in onsekere en dinamiese omgewings wat ook baie hindernisse bevat. Die voorgestelde metodes val in die klas van nie-samewerkende konflikvermydingsmetodes. Hulle kan algemene voertuig- en omgewingsmodelle hanteer en hul enigste noemenswaardige aanname is dat die posisie- en snelheidstoestande van die voertuig en hindernisse Gaussiese waarskynliksheidverspreidings toon. Konflikvermyding vir volledig outonome voertuie bestaan uit drie stappe, naamlik modellering en identifikasie van die omgewing, konflikdeteksie en konflikresolusie. Ons bied ’n argitektuur vir so ’n stelsel aan wat stabiele werking verseker. Die eerste deel van die tesis beskryf die ontwikkeling van ’n oorspronklike en doeltreffende metode vir waarskynliksheid-konflikdeteksie. Die metode gebruik die voorspelde toestande van die voertuig en omgewing en bereken die waarskynlikheid van konflik vir die betrokke voorspellingsperiode. In die afleiding van die metode definiëer ons die konsep van waarskynliksheidvloei oor die grens van die konflikdomein. Dit stel ons in staat om die kompleksiteit van die probleem beduidend te verminder. Die metode aanvaar ook Gaussiese waarskynlikheidsverspreiding van toestande en definiëer ’n nou bogrens tot die waarskynlikheid van konflik om die kompleksiteit van die probleem verder te verminder. Laastens gebruik die metode aanpasbare integrasiemetodes vir vinnige berekening van die waarskynlikheid van konflik. Die eerste deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde konflikdeteksiemetode in staat is om die waarskynlikheid van konflik intyds te bereken, selfs vir komplekse omgewings en voertuigbewegings. Die metode lewer dus ’n beduidende bydrae tot die veld van konflikdeteksie. Die tweede deel van die tesis pas bestaande kinodinamiese beplanningsalgoritmes aan vir konflikresolusie in komplekse omgewings. Ons stel drie veranderings voor, naamlik die gebruik van waarskynliksheid-konflikdeteksiemetodes, die byvoeg van ’n tyd-dimensie in die monsterruimte en die generasie van meervoudige monsters. Ons stel ook ’n robuuste en aanpasbare manier voor om die grootte van die monsterruimte te kies. Al die voorafgaande voorstelle word saamgevoeg in ’n beplanner vir konflikresolusie. Die tweede deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde beplanner slegs intyds ’n oplossing kan vind vir eenvoudige omgewings. Die manier hoe die beplanner onsekerheid hanteer en die begrensing van die monsterruimte lewer egter waardevolle bydraes tot die veld van konflikresolusie
Amini, Alexander Andre. "Robust end-to-end learning for autonomous vehicles". Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/118031.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (pages 59-64).
Deep learning has been successfully applied to "end-to-end" learning of the autonomous driving task, where a deep neural network learns to predict steering control commands from camera data input. While these works support reactionary control, the representation learned is not usable for higher-level decision making required for autonomous navigation. This thesis tackles the problem of learning a representation to predict a continuous control probability distribution, and thus steering control options and bounds for those options, which can be used for autonomous navigation. Each mode in the learned distribution encodes a possible macro-action that the system could execute at that instant, and the covariances of the modes place bounds on safe steering control values. Our approach has the added advantage of being trained solely on unlabeled data collected from inexpensive cameras. In addition to uncertainty estimates computed directly by our model, we add robustness by developing a novel stochastic dropout sampling technique for estimating the inherent confidence of the model's output. We install the relevant processing hardware pipeline on-board a full-scale autonomous vehicle and integrate our learning algorithms for real-time control inference. Finally, we evaluate our models on a challenging dataset containing a wide variety of driving conditions, and show that the algorithms developed as part of this thesis are capable of successfully controlling the vehicle on real roads and even under a parallel autonomy paradigm wherein control is shared between human and robot.
by Alexander Andre Amini.
S.M.
Leavitt, Joseph William. "Intent-aware collision avoidance for autonomous marine vehicles". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/111893.
Texto completoThesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 259-278).
Applications of autonomous marine vehicles in dynamic and uncertain environments continuously grow as research unveils new enabling technology and academic, commercial, and government entities pursue new marine autonomy concepts. The safe operation of these vehicles in the marine domain, which is currently dominated by human-operated vehicles, demands compliance with collision avoidance protocol, namely the International Regulations for Preventing Collisions at Sea (COLREGS). Strict application of this protocol can lead to a highly constrained motion planning problem, in which it is difficult for a vehicle to identify a safe and efficient motion plan. This thesis proposes a multi-objective optimization-based method for COLREGS-compliant autonomous surface vehicle collision avoidance in which vehicles use shared intent information, in addition to vehicle state information, to identify safe and efficient collision avoidance maneuvers. The proposed method uses intent information to relax certain COLREGS-specified constraints with the goal of providing sufficient maneuvering flexibility to enable improvements in safety and efficiency over a non-intent-aware system. In order to arrive at an intent-aware solution, this thesis explores the concept of intent, including intent formulations for the marine domain, intent communications, and the application of intent to the COLREGS-compliant motion planning problem. Two types of intent information are specifically evaluated: COLREGS mode intent, in which the give-way vessel in an overtaking or crossing scenario communicates its intent to maneuver in a certain direction with respect the stand-on vessel, and discrete trajectory intent in which vehicles communicate projected future positions. Simulations and on-water experiments demonstrate the feasibility of the proposed intent-aware method, as well as improvements in performance, in terms of both vehicle safety and mission efficiency, over a non-intent-aware, COLREGS-compliant collision avoidance method.
by Joseph William Leavitt.
Nav. E.
S.M.
Leavitt, Joseph William. "Intent-aware collision avoidance for autonomous marine vehicles". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111893.
Texto completoThesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 259-278).
Applications of autonomous marine vehicles in dynamic and uncertain environments continuously grow as research unveils new enabling technology and academic, commercial, and government entities pursue new marine autonomy concepts. The safe operation of these vehicles in the marine domain, which is currently dominated by human-operated vehicles, demands compliance with collision avoidance protocol, namely the International Regulations for Preventing Collisions at Sea (COLREGS). Strict application of this protocol can lead to a highly constrained motion planning problem, in which it is difficult for a vehicle to identify a safe and efficient motion plan. This thesis proposes a multi-objective optimization-based method for COLREGS-compliant autonomous surface vehicle collision avoidance in which vehicles use shared intent information, in addition to vehicle state information, to identify safe and efficient collision avoidance maneuvers. The proposed method uses intent information to relax certain COLREGS-specified constraints with the goal of providing sufficient maneuvering flexibility to enable improvements in safety and efficiency over a non-intent-aware system. In order to arrive at an intent-aware solution, this thesis explores the concept of intent, including intent formulations for the marine domain, intent communications, and the application of intent to the COLREGS-compliant motion planning problem. Two types of intent information are specifically evaluated: COLREGS mode intent, in which the give-way vessel in an overtaking or crossing scenario communicates its intent to maneuver in a certain direction with respect the stand-on vessel, and discrete trajectory intent in which vehicles communicate projected future positions. Simulations and on-water experiments demonstrate the feasibility of the proposed intent-aware method, as well as improvements in performance, in terms of both vehicle safety and mission efficiency, over a non-intent-aware, COLREGS-compliant collision avoidance method.
by Joseph William Leavitt.
Nav. E.
S.M.
Manara, Luca. "Investigating Antenna Placement on Autonomous Mining Vehicle". Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-204908.
Texto completoFramtidens gruvor kommer att gynnas av sammankopplade, intelligenta transportsystem. Autonoma gruvfordon kommer att förbättra säkerhet och produktivitet, och samtidigt minska bränslekonsumtion. Därför är det nödvändigt för Scania att öka kunskapen om design av kommunikationssystem för fordon i hård gruvmiljö. Målet för detta projekt är att undersöka kraven för antennplacering hos ett framtida autonomt gruvfordon och att ge förslag på passande antenntyper och -positioner. Det elektromagnetiska simuleringsverktyget CST Microwave Studio används för att uppskatta påverkan från en förenklad fordonsgeometri på grundläggande antennstrålningsmönster. Utvalda antennkonfigurationer utvärderas genom undersökningar av dess strålningsmönster. För att kunna stråla ut tillräcklig effekt i området kring fordonet och garantera tillförlitlig kommunikation krävs centralt placerade runtstrålande antenner, eller alternativt en patchantenn till varje sida. Problemlösningsmetoden utvärderas också: Flexibiliteten simuleringsmetoden ger betonas, medan några relevanta begränsningar diskuteras. Hårdvarukrav, tillgängligheten av modeller och begränsade resultat från mjukvaran kan bidra till att göra simuleringen olämplig för att utvärdera antennplaceringen.
Huang, Albert Shuyu. "Lane estimation for autonomous vehicles using vision and LIDAR". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/57535.
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.
Includes bibliographical references (p. 109-114).
Autonomous ground vehicles, or self-driving cars, require a high level of situational awareness in order to operate safely and eciently in real-world conditions. A system able to quickly and reliably estimate the location of the roadway and its lanes based upon local sensor data would be a valuable asset both to fully autonomous vehicles as well as driver assistance technologies. To be most useful, the system must accommodate a variety of roadways, a range of weather and lighting conditions, and highly dynamic scenes with other vehicles and moving objects. Lane estimation can be modeled as a curve estimation problem, where sensor data provides partial and noisy observations of curves. The number of curves to estimate may be initially unknown and many of the observations may be outliers and false detections (e.g., due to tree shadows or lens are). The challenge is to detect lanes when and where they exist, and to update the lane estimates as new observations are received. This thesis describes algorithms for feature detection and curve estimation, as well as a novel curve representation that permits fast and ecient estimation while rejecting outliers. Locally observed road paint and curb features are fused together in a lane estimation framework that detects and estimates all nearby travel lanes.
(cont.) The system handles roads with complex geometries and makes no assumptions about the position and orientation of the vehicle with respect to the roadway. Early versions of these algorithms successfully guided a fully autonomous Land Rover LR3 through the 2007 DARPA Urban Challenge, a 90km urban race course, at speeds up to 40 km/h amidst moving traffic. We evaluate these and subsequent versions with a ground truth dataset containing manually labeled lane geometries for every moment of vehicle travel in two large and diverse datasets that include more than 300,000 images and 44km of roadway. The results illustrate the capabilities of our algorithms for robust lane estimation in the face of challenging conditions and unknown roadways.
by Albert S. Huang.
Ph.D.
Gheneti, Banti Henricus. "Reconfigurable Autonomous Surface Vehicles : perception and trajectory optimization algorithms". Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/121672.
Texto completoThesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 105-110).
Autonomous Surface Vehicles (ASV) are a highly active area of robotics with many ongoing projects in search and rescue, environmental surveying, monitoring, and beyond. There have been significant studies on ASVs in riverine, coastal, and sea environments, yet only limited research on urban waterways, one of the most busy and important water environments. This thesis presents an Urban Autonomy System that is able to meet the critical precision, real-time and other requirements that are unique to ASVs in urban waterways. LiDAR-based perception algorithms are presented to enable robust and precise obstacle avoidance and object pose estimation on the water. Additionally, operating ASVs in well-networked urban waterways creates many potential use cases for ASVs to serve as re-configurable urban infrastructure, but this necessitates developing novel multi-robot planners for urban ASV operations. Efficient sequential quadratic programming and real-time B-spline parameterized mixed-integer quadratic programming multi-ASV motion planners are presented respectively for formation changing and shapeshifting operations, enabling use cases such as ASV docking and bridge-building on water. These methods increase the potential of urban and non-urban ASVs in the field. The underlying planners in turn contribute to the motion planning and trajectory optimization toolbox for unmanned aerial vehicles (UAVs), self-driving cars, and other autonomous systems.
by Banti Henricus Gheneti.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
Chen, Tianye M. EngMassachusetts Institute of Technology. "Augmenting anomaly detection for autonomous vehicles with symbolic rules". Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123013.
Texto completoThesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 53-54).
My research investigates the issues in anomaly detection as applied to autonomous driving created by the incompleteness of training data. I address these issues through the use of a commonsense knowledge base, a predefined set of rules regarding driving behavior, and a means of updating the base set of rules as anomalies are detected. In order to explore this problem I have built a hardware platform that was used to evaluate existing anomaly detection developed within the lab and that will serve as an evaluation platform for future work in this area. The platform is based on the open-source MIT RACECAR project that integrates the most basic aspect of an driving autonomous vehicle - lidar, camera, accelerometer, and computer - onto the frame of an RC car. We created a set of rules regarding traffic light color transitions to test the car's ability to navigate cones (which represent traffic light colors) and detect anomalies in the traffic light transition order. Anomalies regularly occurred in the car's driving environment and its driving rules were updated as a consequence of the logged anomalies. The car was able to successfully navigate the course and the rules (plausible traffic light color transitions) were updated when repeated anomalies were seen.
by Tianye Chen.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
Lazarov, Kristiyan y Badi Mirzai. "Behaviour-Aware Motion Planning for Autonomous Vehicles Incorporating Human Driving Style". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254224.
Texto completoJie, Lu Billy y Michael Bettar. "Trajectory Tracking, Formation Control and Obstacle Avoidance for Autonomous Ground Vehicles". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293838.
Texto completoAnvändningen av autonoma markfordon har ökat kraftigt de senaste åren. Således är det viktigt att få en bättre förståelse för grunderna i deras kommunikationsnätverk. I detta projekt studeras tre essentiella områden: projektilspårning, formationshållning och undvikning av kollisioner. Först och främst implementeras projektilspårning för en enhjuling där den styrs mot en önskad projektilbana. Därefter betraktas formationshållning genom två metoder: Den första metoden handlar om virtuella strukturer med en förutbestämd bana för enhjulingar. Den andra metoden baseras på en förskjutningsbaserad regulator. Slutligen införs undvikning av kollisioner tillsammans med den förskjutningsbaserade regulatorn för att uppnå ett kollisionsundvikande robotsystem. Samtliga objektiv inom de tre områdena nås med varierande precision.
Kandidatexjobb i elektroteknik 2020, KTH, Stockholm
Chari, Kartik Seshadri. "Dynamic Modelling and Optimal Control of Autonomous Heavy-duty Vehicles". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-291634.
Texto completoUnder det senaste årtiondet har utveckling av autonoma fordon blivit allt viktigare på grund av de stora möjligheterna till förbättringar av trafikflöden, minskade utsläpp av föroreningar och eliminering av mänskliga fel. När det gäller långdistanstransporter eller komplexa isolerade miljöer så som gruvor blir faktorer som bränsleeffektivitet, transportkostnad, robusthet och noggrannhet mycket viktiga. Detta examensarbete utvecklat vid avdelningen Connected and Autonomous Systems på Scania i samarbete med KTH fokuserar på frågor gällande bränsleeffektivitet, robusthet och exakthet hos en autonom tung lastbil i gruvmiljö. För att förbättra simuleringsmodellens tillståndsprediktioner, genomfördes en jämförande analys av två dynamiska fordonsmodeller. Den första modellen använde den empiriska däckmodellen PAC2002 Magic Formula (MF) för att approximera däckkrafterna, och den andra använde en stegvis linjär approximation av samma däckmodell. För att ta hänsyn till ickelinjäriteter och laterala tidsfördröjningar inkluderades empiriskt identifierade styrdynamiksekvationer i fordonsmodellen. Modellerna verifierades mot verkliga mätdata från fordon. Den bästa fordonsmodellen valdes genom att hitta en balans mellan noggrannhet och beräkningseffektivitet. Den Dynamiska fordonsmodellen med stegvis linjär approximation av däckkrafter visade goda resultat genom att ge noggranna tillståndsprediktioner inom det acceptabla felområdet och hantera sidoacceleration upp till 4 m/s2 . Den här modellen visade sig också vara sex gånger effektivare än PAC2002-däckmodellen. v För att säkerställa mjuk och korrekt körning testades flera MPC varianter på klotoidbaserade trajektorier av filbyte SLC, dubbelt filbyte DLC och slalom. Störningar i position, riktining och hastighet lades till startpositionen. En MPC med straff på rumslig avvikelse föreslås, vilket ger en länk mellan rumsdomän och tidsdomän. Den föreslagna regleringen visade sig vara en perfekt balans mellan bränsleeffektivitet, genom att minimering av broms- och accelerationssekvenser, och felminimering samtidigt som lastbilen nådde sin destination inom den föreskrivna tiden oberoende av de extra störningarna. Slutligen gjordes en jämförande analys mellan olika kombinationer av simulerings- och prediktionsmodell och den bästa kombinationen valdes med avseende på dess robusthet mot parameterändringar, enkelhet, beräkningseffektivitet och noggrannhet.