Дисертації з теми "Autonomous steering"
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Magnusson, Filip. "Evaluating Deep Learning Algorithms for Steering an Autonomous Vehicle." Thesis, Linköpings universitet, Programvara och system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-153450.
Повний текст джерелаBrown, William Shaler. "Technology for Designing the Steering Subsystem Component of an Autonomous Vehicle." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34960.
Повний текст джерелаMaster of Science
Meidenbauer, Kennneth Richard. "An Investigation of the Clothoid Steering Model for Autonomous Vehicles." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34279.
Повний текст джерелаMaster of Science
Haglund, Sebastian, та Henrik Johansson. "Steering Control During μ-split Braking for an Autonomous Heavy Road Vehicle". Thesis, Linköpings universitet, Fordonssystem, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166962.
Повний текст джерелаLerider, 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.
Повний текст джерелаHawkinson, Todd D. "Multiple input sliding mode control for autonomous diving and steering of underwater vehicles." Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA241935.
Повний текст джерелаThesis Advisor(s): Papoulias, Fotis A. "December 1990." Description based on title screen as viewed on March 31, 2010. DTIC Identifier(s): Autonomous, Guidance Control, Theses. Author(s) subject terms: Autonomous Underwater Vehicles, AUV, Guidance Control. Includes bibliographical references (p. 195). Also available in print.
Campbell, Stefan F. (Stefan Forrest). "Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42301.
Повний текст джерелаIncludes bibliographical references (p. 156-157).
Fundamental to the design of an Ackerman steered autonomous ground vehicle is the development of a low-level controller that effectively performs trajectory or path tracking. Though ample literature is available on various methods for controlling ground vehicles, little information is presented on the implementation and tuning of such controllers. Moreover, few sources extend ground vehicle control to driving in reverse. This work presents a novel approach to the implementation of the traditional "pure pursuit" style controller in which a dynamic vehicle model is used to map from the path curvature specified by the pure pursuit algorithm to the vehicle's actual steering angle. Additionally, an analytical methodology using a linear model of straight-line path following is used to tune the pure pursuit look-ahead distance. This pure pursuit controller is then contrasted with a simulation-based controller that uses a kinematic model to predict the vehicle's response to a series of different steering inputs; a performance metric is used to select the best command given these predictions. Successful trajectory control results are presented at speeds up to 22 mph. The second focus of this work is the control of a front-wheel steered vehicle driving in reverse. Novel to this work is the presentation of pure pursuit as a stable solution to this problem. Pure pursuit is then contrasted with the mechanism-based controller that was developed by Patwardhan et al. at the University of California Berkeley. In presenting this controller, a new method employing a linear kinematic vehicle model is used to tune the controller parameters. It is then shown that, under specific conditions, the mechanism-based controller and the pure pursuit controller are identical. Both controllers are then compared with the simulation-based controller adapted for driving in reverse.
(cont.) Results are presented at speeds up to 6.7 mph. Results for the implementation of these controllers were collected using a 2006 Land Rover LR3 developed for MIT's entry into the 2007 DARPA Urban Challenge. Results ultimately illustrate the respective strengths and weaknesses of the pure pursuit class of controllers.
by Stefan F. Campbell.
S.M.
Wetterlind, Victor. "Concept development of steering column : Accommodating business commuters in a level four autonomous car." Thesis, Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-68135.
Повний текст джерелаGUIDOLINI, R. "A NEURAL-BASED MODEL PREDICTIVE CONTROL TO TACKLE STEERING DELAY OF THE IARA AUTONOMOUS CAR." Universidade Federal do Espírito Santo, 2017. http://repositorio.ufes.br/handle/10/9852.
Повний текст джерелаNeste trabalho, propomos uma abordagem de Controle Preditivo Baseado em Modelo Neural (Neural Based Model Predictive Control - N-MPC) para lidar com atrasos na planta de direção de carros autônomos. Examinamos a abordagem N-MPC como uma alternativa para a implementação do subsistema de controle de direção da Intelligent and Autonomous Robotic Automobile (IARA). Para isso, comparamos a solução padrão, baseada na abordagem de controle Proporcional Integral Derivativo (PID), com a abordagem N-MPC. O subsistema de controle de direção PID funciona bem na IARA para velocidades de até 25 km/h. No entanto, acima desta velocidade, atrasos na Planta de Direção da IARA são muito elevados para permitir uma operação adequada usando uma abordagem PID. Modelamos a Planta de Direção da IARA usando uma rede neural e empregamos esse modelo neural na abordagem N-MPC. A abordagem N-MPC superou a abordagem PID reduzindo o impacto de atrasos na Planta de Direção de IARA e permitindo a operação autônoma da IARA em velocidades de até 37 km/h um aumento de 48% na velocidade máxima estável
Striedieck, Robert. "LOOPHOLE : How sports cars will find a way to survive the autonomous future." Thesis, Umeå universitet, Designhögskolan vid Umeå universitet, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-136854.
Повний текст джерелаBakolas, Efstathios. "Optimal steering for kinematic vehicles with applications to spatially distributed agents." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42873.
Повний текст джерелаBahrke, Fredric G. "On-line identification of the speed, steering and diving response parameters of an autonomous underwater vehicle from experimental data." Thesis, Monterey, Calif. : Naval Postgraduate School, 1992. http://handle.dtic.mil/100.2/ADA252703.
Повний текст джерелаThesis Advisor: Healey, Anthony J. "March 1992." Includes bibliographical references (p. 157-159). Also available in print.
Sinyukov, Dmitry Aleksandrovich. "Semi-autonomous robotic wheelchair controlled with low throughput human- machine interfaces." Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-dissertations/242.
Повний текст джерелаBeckman, Erik, and Linus Harenius. "Monitored Neural Networks for Autonomous Articulated Machines." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48708.
Повний текст джерелаTörnroth, Oscar, and Truls Nyberg. "Design and Implementation of a Strategy for Path Tracking on Autonomous Heavy-Duty Vehicles." Thesis, Linköpings universitet, Fordonssystem, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-149266.
Повний текст джерелаDen här rapporten beskriver design och implementering av en regulator med kombinerad framkoppling och återkoppling för förbättrad banföljning av autonoma tunga fordon. Fordonets ratt styrs för att följa en kurvaturreferens beräknad av en överordnad MPC, ansvarig för att minimera avståndet till en planerad bana. Dynamiken i styrningen, från ratten via hjulvinklarna till en mätbar kurvatur för fordonet, är modellerad. En översättning från önskad förstärkning av kurvatur till insignal för rattvinkeln är också framtagen. Tester utförda med en autonom Scania R580 visar att den önskade kurvaturen kan följas med tillfredsställande litet fel, både i en egendesignad slalombana och i en mer generisk testbana. Genom att utnyttja framtida referensvärden för kurvatur beräknade av MPC:n, kan en icke-kausal framkopplande regulator minska fördröjningen från insignal till ratten till en mätbar respons i fordonets kurvatur. Jämfört med den nuvarande lösningen minskas fördröjningen med nästan två tredjedelar. Jämfört med en öppen styrning visar tester i simulering att en återkoppling i regulatorn kan minska stationära fel i kurvatur. Med implementeringen av den identifierade styrdynamiken och den förbättrade översättningen från rattvinkel till kurvatur, syntes dock med återkoppling ingen ytterliggare förbättring i testfordonet. Implementering av den återkopplande regulatorn i serie med den överordnade MPC:n behöver också göras med omsorg för att inte introducera instabilitet i systemet.
Siponmaa, Stefan. "Utvärdering av styrbeteenden för grupper av navigerande agenter." Thesis, Högskolan i Skövde, Institutionen för kommunikation och information, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-8169.
Повний текст джерелаde, Saxe Christopher Charles. "Vision-based trailer pose estimation for articulated vehicles." Thesis, University of Cambridge, 2017. https://www.repository.cam.ac.uk/handle/1810/268169.
Повний текст джерелаRomera, Orengo Javier. "Analysis of vehicle ergonomics using a driving test routine in the DHM tool IPS IMMA." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19055.
Повний текст джерелаAlekseeva, Natalia Mihajlovna, and Natalia Alekseeva. "Developing an autosteering of road motor vehicles in slippery road conditions." Thesis, https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13155942/?lang=0, 2020. https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13155942/?lang=0.
Повний текст джерела博士(工学)
Doctor of Philosophy in Engineering
同志社大学
Doshisha University
Ayala, Jaimes Gerardo. "Supervision of over-actuated steering system of mobile omnidrive heavy vehicle." Thesis, Lille 1, 2016. http://www.theses.fr/2016LIL10216.
Повний текст джерелаThis work focuses on the modeling and analysis of an over-actuated steering system of a mobile omnidrive heavy vehicle that is part of a wheeled robot called RobuTAINeR. This robot is used for transporting 12-meters containers inside confined spaces of maritime terminals. In this class of robots, the steering and wheel play a crucial role for the autonomous navigation; hence, there is a necessity to understand and model the omnidirectional motion capabilities, switching dynamic behaviors, and its multi-domain areas: electrical, mechanical, hydrodynamic, etc. The Bond Graph technique is a unifying methodology to perform and analyze physical systems, where there is energy exchange, not only suitable for modeling but also for Fault Detection and Isolation. The validation of this model has been done with real-time simulation, based on real data integrated into the professional simulator SCANeR Studio and compared with the simulation on 20Sim. This professional tool is used to model complex systems such as the control of the hydraulic steering; the electromechanical section of the traction system; the longitudinal, lateral, and yaw dynamics of the robot motion concerning its center of gravity; and the lateral and longitudinal forces presented in the tire-ground. The diagnosis is applied to the hybrid model which is called Diagnostic Bond Graph. Thus, another objective is to model and improve the robustness of fault detection in the presence of parametric uncertainties in order to reduce false alarms
Onyango, Stevine Obura. "Behaviour Modelling and System Control with Human in the Loop." Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1162/document.
Повний текст джерелаAlthough the progressive research and development of autonomous systems is fairly evident, such systems still require human interventions to solve the unforeseen complexities, and clear the uncertainties encountered in the execution of user-tasks. Thus, in spite of the system's autonomy, it may not be possible to absolutely disregard the operator's role. Human intervention, particularly in the control of auto-mobiles, may as well be hard to ignore because of the constantly changing operational context and the evolving nature of the drivers' needs and preferences. In order to execute the autonomous operations in conformity with the operator's expectations, it may be necessary to incorporate the advancing needs and behaviour of the operator in the design. This thesis formulates an operator behaviour model, and integrates the model in the control loop to adapt the functionality of a human-machine system to the operator's behaviour. The study focuses on a powered wheelchair, and contributes to the advancement of steering performance, through background assistance by modelling, empirical estimation and incorporation of the driver's steering behaviour into the control system. The formulation of the steering behaviour model is based on two fundamentals: the general empirical knowledge of wheelchair steering, and the experimental steering data captured by a standard powered wheelchair, on both virtual and real environments. The study considers a reactive directed potential field (DPF) method in the modelling of drivers' risk detection and avoidance behaviour, and applies the ordinary least square procedure in the identification of best-fitting driver parameters. The study also contributes to the development of a dynamic model of the wheelchair, usable under normal and non-normal conditions, by taking into consideration the conventional differential drive wheelchair structure with two front castor wheels. Derivation of the dynamic model, based on the Euler Lagrange formalism, is carried out in two folds: initially by considering the gravitational forces subjected to the wheelchair on inclined configurations with no slipping situations, and finally by incorporating slipping parameters into the model. Determination of the slipping parameters is approached from the geometric perspective, by considering the non-holonomic motions of the wheelchair in the Euclidean space. In the closed-loop model, the input-output feedback controller is proposed for the tracking of user inputs by torque compensation. The optimality of the resulting minimum-phase closed-loop system is then ensured through the performance index of the non-linear continuous-time generalised predictive control (GPC). Simulation results demonstrate the expected behaviour of the wheelchair dynamic model, the steering behaviour model and the assistive capability of the closed-loop system
FERRARIO, SUSANNA. "LAVORO AUTONOMO E INTERESSI COLLETTIVI: RAPPRESENTANZA, ORGANIZZAZIONE E AZIONE SINDACALE DI TUTELA." Doctoral thesis, Università Cattolica del Sacro Cuore, 2008. http://hdl.handle.net/10280/257.
Повний текст джерелаThe search starts with the reconstruction of socio-economic processes. Moving from these reflections, it's possible to see that today's companies take advantage of increasingly self-employed coordinated and continuous and, after d.lgs. 276/2003 “lavoratori a progetto”. These employees are, therefore, subject to a power (contractual) coordination of the customer that, at times, it adds up to a state of economic dependence by the same. It then creates an internal differentiation into autonomy area that does not seem properly valued by the ordinary legislator, but that seems to involve trade unions. Given that in reality there are different representations, we move to circumscribe the scope of applicability of the Arts. 39 and 40 Const. The absence of a genuine interest and genuine self activities suggest that employees "strong" and its associations can only benefit from the protections posed by Arts. 2, 18 and 41 Const. At the end tackling the problems so that the reconstruction turn raises, namely how to ensure the effectiveness of the safeguards recognized unionism collaborators "weak" and reconcile the associations of employees "strong" with the antitrust law.
FERRARIO, SUSANNA. "LAVORO AUTONOMO E INTERESSI COLLETTIVI: RAPPRESENTANZA, ORGANIZZAZIONE E AZIONE SINDACALE DI TUTELA." Doctoral thesis, Università Cattolica del Sacro Cuore, 2008. http://hdl.handle.net/10280/257.
Повний текст джерелаThe search starts with the reconstruction of socio-economic processes. Moving from these reflections, it's possible to see that today's companies take advantage of increasingly self-employed coordinated and continuous and, after d.lgs. 276/2003 “lavoratori a progetto”. These employees are, therefore, subject to a power (contractual) coordination of the customer that, at times, it adds up to a state of economic dependence by the same. It then creates an internal differentiation into autonomy area that does not seem properly valued by the ordinary legislator, but that seems to involve trade unions. Given that in reality there are different representations, we move to circumscribe the scope of applicability of the Arts. 39 and 40 Const. The absence of a genuine interest and genuine self activities suggest that employees "strong" and its associations can only benefit from the protections posed by Arts. 2, 18 and 41 Const. At the end tackling the problems so that the reconstruction turn raises, namely how to ensure the effectiveness of the safeguards recognized unionism collaborators "weak" and reconcile the associations of employees "strong" with the antitrust law.
Botha, Theunis R. "High speed autonomous off-road vehicle steering." Diss., 2011. http://hdl.handle.net/2263/29665.
Повний текст джерелаDissertation (MEng)--University of Pretoria, 2011.
Mechanical and Aeronautical Engineering
Unrestricted
Kung, Chun-Kai, and 孔俊凱. "Trajectory predictions and autonomous compensations for vehicle steering." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/59294779081428454491.
Повний текст джерелаLakkad, Shailesh Hollis Patrick. "Modeling and simulation of steering systems for autonomous vehicles." 2004. http://etd.lib.fsu.edu/theses/available/etd-04112004-101215.
Повний текст джерелаAdvisor: Dr. Patrick Hollis, Florida State University, College of Engineering, Dept. of Mechanical Engineering. Title and description from dissertation home page (viewed June 18, 2004). Includes bibliographical references.
Kapp, Michael. "Robust High Speed Autonomous Steering of an Off-Road Vehicle." Diss., 2015. http://hdl.handle.net/2263/43784.
Повний текст джерелаDissertation (MEng)--University of Pretoria, 2015.
Mechanical and Aeronautical Engineering
Unrestricted
樊奕承. "Trajectory autonomous compensations for vehicle steering on four-wheel drive." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/59094918867885574215.
Повний текст джерелаZhang, Zhi-hao, and 張志豪. "Trajectory Design and Tracking Control of Obstacle Avoidance for Autonomous Emergency Steering System." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/8czjm7.
Повний текст джерела國立臺北科技大學
車輛工程系所
105
The maximum allowable lateral acceleration and jerk are used to plan the path for obstacle avoidance on both straight road and curved road. The geometry between the host vehicle and the front obstacle is used to calculate the last point to steer (LPS), which is used to trigger the autonomous emergency steering (AES) system. The path for obstacle avoidance is planned using the coordinate system of the host vehicle when the front obstacle is detected. The planned path is then transformed to be described using the coordinate system of the obstacle. The relative position and angle between the host vehicle and the obstacle are used for coordinate transformation during obstacle avoidance, such that the planned path can be obtained using the coordinate system of the host vehicle. The steering actuator dynamics is considered using a 5-state bicycle model while designing the tracking controller. A linear quadratic regulator (LQR) is employed to design the control law for tracking the planned path. The vehicle speed is employed for gain scheduling to reduce the computation load. CarSim/Simulink is used to evaluate the proposed approach. Preliminary simulation results show that the emergency obstacle avoidance at different speeds can achieved effectively on both straight and curved roads.
Tan, Chiam Huat. "A simulation study of an autonomous steering system for on-road operation of automotive vehicles." Thesis, 1986. http://hdl.handle.net/10945/22104.
Повний текст джерелаMu-ChengYu and 於睦程. "The Application of Fuzzy Control on the Anti-collision Steering of the Autonomous Underwater Vehicle." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/73308484573731793271.
Повний текст джерелаHsu, Chien-Hsing, and 許健興. "A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/96303077407878918554.
Повний текст джерела國立中興大學
生物產業機電工程學系所
100
To reduce toeing out and the radius of gyration of a front wheel drive vehicle maneuvering through tight corners at low speeds, this thesis evaluated the dimensions of traction machines and designed the prototype of an autonomous three-wheeler with a four-bar equal-crank linkage steering mechanism for the front wheels and an active controlled driven rear wheel for overturning avoidance. The model of the synchronous gyration center of the wheels was proposed. A PID controller was then installed on the rear driven wheel with which allows the rear wheels to turn in the opposite direction when the front wheels are turning and results in a quicker and more efficient turning. The Freudenstein''s equation was employed to determine the optimal dimensions for the four-bar linkage mechanism of the prototype, too. The final results indicate that the radius of gyration of a three-wheeler set up with the theoretical dimensions, can be reduced by 19% to 29% and the undercutting of the rear wheels can also be prevented. Established and simulated on Solidworks, the proposed model was validated.