Download or read book Real time Trajectory Planning for Ground and Aerial Vehicles in a Dynamic Environment written by Jian Yang and published by . This book was released on 2008 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation, a novel and generic solution of trajectory generation is developed and evaluated for ground and aerial vehicles in a dynamic environment. By explicitly considering a kinematic model of the ground vehicles, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable parameter for the purpose of collision avoidance. A collision-avoidance condition is developed for the dynamically changing environment, which consists of a time criterion and a geometrical criterion. By imposing this condition, one can determine a family of collision-free paths in a closed form. Then, optimization problems with respect to different performance indices are setup to obtain optimal solutions from the feasible trajectories. Among these solutions, one with respect to the near-shortest distance and another with respect to the near-minimal control energy are analytical and simple. These properties make them good choices for real-time trajectory planning. Such optimal paths meet all boundary conditions, are twice differentiable, and can be updated in real time once a change in the environment is detected. Then this novel method is extended to 3D space to find a real-time optimal path for aerial vehicles. After that, to reflect the real applications, obstacles are classified to two types: "hard" obstacles that must be avoided, and "soft" obstacles that can be run over/through. Moreover, without losing generality, avoidance criteria are extended to obstacles with any geometric shapes. This dissertation also points out that the emphases of the future work are to consider other constraints such as the bounded velocity and so on. The proposed method is illustrated by computer simulations.
Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.
Download or read book Trajectory Planning for Flights in Multiagent and Dynamic Environments written by Jesus Tordesillas Torres and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: While efficient and fast trajectory planners in static worlds have been extensively proposed for UAVs (Unmanned Aerial Vehicles), a 3D real-time planner for environments with static obstacles, dynamic obstacles, and other planning agents still remains an open problem. The dynamic nature of these environments demands high replanning rates, making this problem especially hard on computationally limited platforms. Existing state-of-the-art planners reduce the computational complexity at the expense of more conservative results by relying on three main simplifications or assumptions: First, the collision avoidance constraints are imposed using the Bernstein and B-Spline polynomial bases, which do not tightly enclose a given interval of a polynomial trajectory. Second, multiagent planners usually make centralized and/or synchronized computation assumptions, which lead to poor scalability with the number of agents or can degrade the overall performance. Finally, position and yaw are decoupled when optimizing perception-aware trajectories, which produces highly conservative results. This thesis addresses the aforementioned limitations with the following contributions: First, it presents the MINVO basis, a polynomial basis that generates the simplex with minimum volume enclosing a polynomial curve, therefore reducing the conservativeness in the obstacle avoidance constraints. Leveraging the MINVO basis, this thesis then proposes a tractable way to avoid dynamic obstacles by imposing linear separability constraints between the polyhedral enclosures of the intervals of the trajectories. This is then extended to multiagent scenarios, and a decentralized and asynchronous obstacle avoidance algorithm among many replanning agents is presented. Real-time perception-aware planning is achieved by implicitly imposing the underactuated dynamics of the UAV through the Hopf fibration while jointly optimizing the full pose. Finally, a reduction of two orders of magnitude in the computation time is obtained by learning a policy that imitates the optimization-based planner. These proposed contributions are extensively evaluated in simulation, showing up to 32 agents planning in real time, and in real-world experiments, showcasing flights up to 5.8 m/s in unknown dynamic environments with only onboard computation.
Download or read book Algorithmic Foundations of Robotics XI written by H. Levent Akin and published by Springer. This book was released on 2015-04-30 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt: This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.
Download or read book Real Time Trajectory Generation for Autonomous Nonlinear Flight Systems written by and published by . This book was released on 2006 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicle and smart munition systems need robust, real-time path generation and guidance systems to avoid terrain obstructions, navigate in hazardous weather conditions, and react to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation. In Phase 2 these algorithms were refined, extended and were demonstrated in flight on a unique low-cost micro-air vehicle with a payload which included three optical flow sensors, a laser ranger, and a video camera. This report is a comprehensive technical summary of the significant work completed in Phase 2 to enable development of autonomous flight control systems which are capable of accomplishing the complex task of path and trajectory planning in dynamic and uncertain environments.
Download or read book Unmanned Aircraft Systems written by Ella Atkins and published by John Wiley & Sons. This book was released on 2017-01-17 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.
Download or read book Machinery Materials Science and Engineering Applications written by Fei Lei and published by CRC Press. This book was released on 2017-03-31 with total page 832 pages. Available in PDF, EPUB and Kindle. Book excerpt: This conference proceeding contains papers presented at the 6th International Conference on Machinery, Materials Science and Engineering Applications (MMSE 2016), held 28-30 October, 2016 in Wuhan, China. The conference proceeding contributions cover a large number of topics, both theoretical and applied, including Material science, Electrical Engineering and Automation Control, Electronic Engineering, Applied Mechanics, Mechanical Engineering, Aerospace Science and Technology, Computer Science and Information technology and other related engineering topics. MMSE provides a perfect platform for scientists and engineering researchers to exchange ideas, build cooperative relationships and discuss the latest scientific achievements. MMSE will be of interest for academics and professionals working in a wide range of industrial, governmental and academic sectors, including Material Science, Electrical and Electronic Engineering, Information Technology and Telecommunications, Civil Engineering, Energy Production, Manufacturing, Mechanical Engineering, Nuclear Engineering, Transportation and Aerospace Science and Technology.
Download or read book Zwen und dreissig Artickel die allgemeinen Religion und Glauben belangend von den Theologen der hohen schul zu L ven gantz newlich aussgangen written by and published by . This book was released on 1545 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Download or read book Autonomy and Unmanned Vehicles written by Somaiyeh MahmoudZadeh and published by Springer. This book was released on 2018-08-06 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses higher–lower level decision autonomy for autonomous vehicles, and discusses the addition of a novel architecture to cover both levels. The proposed framework’s performance and stability are subsequently investigated by employing different meta-heuristic algorithms. The performance of the proposed architecture is shown to be largely independent of the algorithms employed; the use of diverse algorithms (subjected to the real-time performance of the algorithm) does not negatively affect the system’s real-time performance. By analyzing the simulation results, the book demonstrates that the proposed model provides perfect mission timing and task management, while also guaranteeing secure deployment. Although mainly intended as a research work, the book’s review chapters and the new approaches developed here are also suitable for use in courses for advanced undergraduate or graduate students.
Download or read book Aerial Vehicles written by T. M. Lam and published by IntechOpen. This book was released on 2009-01-01 with total page 780 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space.
Download or read book Robotics and Rehabilitation Intelligence written by Jianhua Qian and published by Springer Nature. This book was released on 2020-12-18 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: This 2-volume set constitutes the refereed proceedings of 1st International Conference on Robotics and Rehabilitation Intelligence, ICRRI 2020, held in Fushun, China, in September 2020. The 56 full and 4 short papers were carefully reviewed and selected from 188 submissions. The papers are divided into the following topical sections. In the first volume: Rehabilitation robotics and safety; machine vision application; electric drive and power system fault diagnosis; robust stability and stabilization; intelligent method application; intelligent control and perception; smart remanufacturing and industrial intelligence; and intelligent control of integrated energy system. In the second volume: smart healthcare and intelligent information processing; human-robot interaction; multi-robot systems and control; robot design and control; robotic vision and machine intelligence; optimization method in monitoring; advanced process control in petrochemical process; and rehabilitation intelligence.
Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
