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Texas A&M University
1.
McCabe, James Terence.
Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle.
Degree: MS, Mechanical Engineering, 2018, Texas A&M University
URL: http://hdl.handle.net/1969.1/174014
► Autonomous vehicles and driver-assistance features have become increasingly more common over the past 5 years. With such an increase in autonomous-vehicle technology, algorithms that identify…
(more)
▼ Autonomous vehicles and driver-assistance features have become increasingly more common
over the past 5 years. With such an increase in
autonomous-
vehicle technology, algorithms that
identify and respond to the dynamic road environment are essential. Many current navigation
programs require that the travel environment be mapped numerous times before an
autonomous
vehicle can travel with no assistance. However, the
vehicle must be able to also navigate in cases
where the current
path is unfamiliar. This thesis explores the use of computer-vision techniques
such as color masking, Hough transformations, and bird’s-eye perspective transformations for the
purpose of implementing a pure pursuit navigation algorithm on a previously unknown course.
The goal of this navigation program is to navigate the
vehicle as closely as possible to the middle
of the lane while smoothly following the
path trajectory. An additional goal of this project is to
implement a histogram of oriented gradients (HOG) detector for the identification of street signs
and adjust the speed of the
vehicle accordingly. This detector should have a near 100% success
rate, and perform the detection more quickly than previously implemented object detectors.
The pure
path-planning algorithm proved successful in maintaining the
vehicle in the lane and
proved very adapt at following the slopes of turns. In the three turns on the track, the maximum
deviations from the center line were 9.14 cm (3.6 in), 2.3 cm (0.87 in), and 8 cm (3.15 in), which
is very good considering the sharpness of the turns. In the straightaways, the
vehicle did not
perform as well, deviating 11.2 cm (4.4 in) and 15 cm (5.9 in) on the first and second straightaways,
respectively. This deviation is mostly due to the
vehicle shallowing the steering angle too quickly
on the turn exit, leading to the
vehicle not being centered in the lane heading down the straightaway.
However, the
vehicle was able to perform all navigation with low latency, achieving 30 frames per
second (fps) compared to the 5 fps of previous lane tracking attempts. Additionally, the
vehicle
achieved the main objective of remaining within the lane boundaries throughout the entirety of the
Autonomous vehicles and driver-assistance features have become increasingly more common
over the past 5 years. With such an increase in
autonomous-
vehicle technology, algorithms that
identify and respond to the dynamic road environment are essential. Many current navigation
programs require that the travel environment be mapped numerous times before an
autonomous
vehicle can travel with no assistance. However, the
vehicle must be able to also navigate in cases
where the current
path is unfamiliar. This thesis explores the use of computer-vision techniques
such as color masking, Hough transformations, and bird’s-eye perspective transformations for the
purpose of implementing a pure pursuit navigation algorithm on a previously unknown course.
The goal of this navigation program is to navigate the
vehicle as closely as possible to the middle
of…
Advisors/Committee Members: Kim, Won-jong (advisor), Huff, Gregory (committee member), Hur, Pilwon (committee member).
Subjects/Keywords: Autonomous vehicle; path planning
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APA (6th Edition):
McCabe, J. T. (2018). Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/174014
Chicago Manual of Style (16th Edition):
McCabe, James Terence. “Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle.” 2018. Masters Thesis, Texas A&M University. Accessed April 12, 2021.
http://hdl.handle.net/1969.1/174014.
MLA Handbook (7th Edition):
McCabe, James Terence. “Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle.” 2018. Web. 12 Apr 2021.
Vancouver:
McCabe JT. Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle. [Internet] [Masters thesis]. Texas A&M University; 2018. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1969.1/174014.
Council of Science Editors:
McCabe JT. Street-Sign and Lane-Marker Recognition for the Control of an Autonomous Ground Vehicle. [Masters Thesis]. Texas A&M University; 2018. Available from: http://hdl.handle.net/1969.1/174014

University of Waterloo
2.
Ahmadi, Behnaz.
Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models.
Degree: 2021, University of Waterloo
URL: http://hdl.handle.net/10012/16847
► Despite many advances that aim to bring autonomous cars to market, several challenges remain to overcome before such technology is widely adopted. Among these is…
(more)
▼ Despite many advances that aim to bring autonomous cars to market, several challenges remain to overcome before such technology is widely adopted. Among these is the need for a reliable cornering control that can work efficiently in real-time. This thesis will focus on the successful development, implementation, and validation of reliable control algorithms for motion control of autonomous vehicles, which will give the University of Waterloo Watanomous team a competitive edge in the annual Auto-Drive competition. A reliable path following controller based on Model Predictive Control(MPC) and using different types of vehicle models are developed to 1) minimize the lateral distance between the vehicle and a reference path, 2) minimize the heading error of the vehicle, and 3) limit the rate of steering inputs to their saturation values and produce smooth motions. The control algorithm proposed in this thesis will rely on a known path as the desired input. Such input will be used to define a horizon over which reliable control actions can be computed to command the vehicle along the desired path with minimum lateral position error. The proposed MPC is implemented in MATLAB in which the associated Optimal Control Problem (OCP) is discretized using the direct Multiple Shooting method. MPC is tested using the CarSim vehicle simulator to validate its performance for double lane change(DLC) vehicle maneuver at constant low/high forward speeds and roads with different known friction coefficients. The effects of changing prediction horizon, sampling time, and weighting factors on path-following controllers’ performance are also discussed. Simulation results show that designed controllers pulled the system back to the predefined reference path, and tracking performances were satisfactory. It is also observed that MPC designed using a linear dynamic model and a combined single-track model, both had comparable performances and less lateral tracking error than MPC designed using the non-linear kinematic model for various speeds on the dry road, and at the speeds below 80kph on the wet road. Moreover, MPCs using linear dynamic and combined single-track vehicle models both worked in the shorter horizon. Overall, MPC using a combined single-track model showed enhanced performance by comparing the other two schemes for all the tests conducted on wet and dry roads at various vehicle speeds.
Subjects/Keywords: model predictive control; autonomous vehicle; vehicle model; path following; lateral control
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APA (6th Edition):
Ahmadi, B. (2021). Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/16847
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ahmadi, Behnaz. “Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models.” 2021. Thesis, University of Waterloo. Accessed April 12, 2021.
http://hdl.handle.net/10012/16847.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ahmadi, Behnaz. “Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models.” 2021. Web. 12 Apr 2021.
Vancouver:
Ahmadi B. Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models. [Internet] [Thesis]. University of Waterloo; 2021. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10012/16847.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ahmadi B. Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models. [Thesis]. University of Waterloo; 2021. Available from: http://hdl.handle.net/10012/16847
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Georgia Tech
3.
You, Changxi.
Autonomous aggressive driving: theory & experiments.
Degree: PhD, Department, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62872
► Autonomous vehicles represent a major trend in future intelligent transportation systems. In order to develop autonomous vehicles, this dissertation intends to understand expert driving maneuvers…
(more)
▼ Autonomous vehicles represent a major trend in future intelligent transportation systems. In order to develop
autonomous vehicles, this dissertation intends to understand expert driving maneuvers in different scenarios such as highway overtaking and off-road rally racing, which are referred to as ``aggressive'' driving in the context of this dissertation. By mimicking expert driving styles, one expects to be able to improve the
vehicle's active safety and traffic efficiency in the development of
autonomous vehicles. This dissertation starts from the system modeling, namely, driver modeling,
vehicle modeling and traffic system modeling, for which we implement different Kalman type filters for nonlinear parameter estimation using experimental data. We then focus on the optimal decision making,
path planning and control design problems for highway overtaking and off-road
autonomous rally racing, respectively. We propose to use a stochastic MDP for highway traffic modeling. The new concept of ``dynamic cell'' is introduced to dynamically extract the essential state of the traffic according to different
vehicle velocities, driver intents (i.e., lane-switching, braking, etc.) and sizes of the surrounding vehicles (i.e., truck, sedan, etc.). This allows us to solve the (inverse) reinforcement learning problem efficiently since the dimensionality of the state space can be maintained in a manageable level. New
path planning algorithms using Bezier curves are proposed to generate everywhere 𝐶2 continuous curvature-constrained paths for highway real-time lane-switching. We demonstrate expert overtaking maneuver by implementing the proposed decision making,
path planning and control algorithms on an in-house developed traffic simulator. Based on the trajectory learning result, we model high-speed cornering with a segment of steady-state cornering for off-road rally racing. We then propose a geometry-based trajectory planning algorithm using the
vehicle's differential flatness. This approach avoids solving optimal control problems on-the-fly, while guaranteeing good racing performance in off-road racing.
Advisors/Committee Members: Tsiotras, Panagiotis (advisor), Feron, Eric Marie J. (committee member), Feigh, Karen (committee member), Boots, Byron (committee member), Coogan, Samuel (committee member), names.
Subjects/Keywords: Autonomous vehicle path; Path planning; System identification; Decision making; Overtaking; Rally racing
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
You, C. (2020). Autonomous aggressive driving: theory & experiments. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62872
Chicago Manual of Style (16th Edition):
You, Changxi. “Autonomous aggressive driving: theory & experiments.” 2020. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/62872.
MLA Handbook (7th Edition):
You, Changxi. “Autonomous aggressive driving: theory & experiments.” 2020. Web. 12 Apr 2021.
Vancouver:
You C. Autonomous aggressive driving: theory & experiments. [Internet] [Doctoral dissertation]. Georgia Tech; 2020. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/62872.
Council of Science Editors:
You C. Autonomous aggressive driving: theory & experiments. [Doctoral Dissertation]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62872

University of Colorado
4.
Aghli, Sina.
Model Identification and Control of Autonomous Ground Vehicles.
Degree: PhD, 2018, University of Colorado
URL: https://scholar.colorado.edu/csci_gradetds/162
► Autonomous Ground Vehicles (AGV) are mobile robotic platforms used in variety of applications to execute tasks which could be dangerous for humans to operate.…
(more)
▼ Autonomous Ground Vehicles (AGV) are mobile robotic platforms used in variety of applications to execute tasks which could be dangerous for humans to operate. Recently,
autonomous cars are discussed in carrying passengers from point to point without human interaction. Sophisticated controllers are required to operate
autonomous vehicles while responding to both normal and hazardous driving conditions. Dangerous conditions which might be easily perceivable by sensors in the system require controllers that can readily benefit from the new sensory information. In this thesis, we address this problem by asserting that the design of controllers and corresponding calibration and local planning methods are required to quickly adapt to changes in both the dynamic model of
vehicle as well as changes in environment. A full pipeline of calibration, local planner and model predictive controller has been developed and tested in simulation and on physical platform. Properties of a high fidelity model and a simpler model has been studied and their pros and cons has been discussed. Also, a calibration algorithm has been developed to calibrate parameters of dynamic models based on informativeness of robot's motion. Next, A local planning algorithms has been developed to plan
vehicle's reference
path between consecutive waypoints and finally a model predictive controller has been designed to stabilizes the
vehicle to the reference
path. A theoretical proof for stability of proposed controller is given. One of the goals behind this work has been design of an adaptive method in a sense that system can quickly adapt to changes in robot's model or environment.
Advisors/Committee Members: Christoffer Heckman, John Hauser, Sriram Sankaranarayanan, Nikolaus Correll, Bradley Hayes.
Subjects/Keywords: autonomous vehicle; calibration; control; planning; reference path; Computer Sciences; Robotics
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Aghli, S. (2018). Model Identification and Control of Autonomous Ground Vehicles. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/csci_gradetds/162
Chicago Manual of Style (16th Edition):
Aghli, Sina. “Model Identification and Control of Autonomous Ground Vehicles.” 2018. Doctoral Dissertation, University of Colorado. Accessed April 12, 2021.
https://scholar.colorado.edu/csci_gradetds/162.
MLA Handbook (7th Edition):
Aghli, Sina. “Model Identification and Control of Autonomous Ground Vehicles.” 2018. Web. 12 Apr 2021.
Vancouver:
Aghli S. Model Identification and Control of Autonomous Ground Vehicles. [Internet] [Doctoral dissertation]. University of Colorado; 2018. [cited 2021 Apr 12].
Available from: https://scholar.colorado.edu/csci_gradetds/162.
Council of Science Editors:
Aghli S. Model Identification and Control of Autonomous Ground Vehicles. [Doctoral Dissertation]. University of Colorado; 2018. Available from: https://scholar.colorado.edu/csci_gradetds/162
5.
Lilja, Robin.
A Localisation and Navigation System for an Autonomous Wheel Loader.
Degree: Design and Engineering, 2011, Mälardalen University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12157
► Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the…
(more)
▼ Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed.
Conducting such cycle requires the vehicle to be able to localise itself in its task space and navigate accordingly. In this Master’s Thesis, methods of solving those requirements are proposed and evaluated on a real wheel loader. The approach taken regarding localisation, is to apply sensor fusion, by extended Kalman filtering, to the available sensors mounted on the vehicle, including; odometric sensors, a Global Positioning System receiver and an Inertial Measurement Unit.
Navigational control is provided through an interface developed, allowing high level software to command the vehicle by specifying drive paths. A path following controller is implemented and evaluated.
The main objective was successfully accomplished by integrating the developed localisation and navigational system with the existing system prior this thesis. A discussion of how to continue the development concludes the report; the addition of a continuous vision feedback is proposed as the next logical advancement.
Subjects/Keywords: Autonomous Vehicle; Sensor Fusion; Kalman Filtering; Path Following
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❌
APA ·
Chicago ·
MLA ·
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to Zotero / EndNote / Reference
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APA (6th Edition):
Lilja, R. (2011). A Localisation and Navigation System for an Autonomous Wheel Loader. (Thesis). Mälardalen University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12157
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Lilja, Robin. “A Localisation and Navigation System for an Autonomous Wheel Loader.” 2011. Thesis, Mälardalen University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12157.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lilja, Robin. “A Localisation and Navigation System for an Autonomous Wheel Loader.” 2011. Web. 12 Apr 2021.
Vancouver:
Lilja R. A Localisation and Navigation System for an Autonomous Wheel Loader. [Internet] [Thesis]. Mälardalen University; 2011. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12157.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lilja R. A Localisation and Navigation System for an Autonomous Wheel Loader. [Thesis]. Mälardalen University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12157
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Ontario Institute of Technology
6.
Tan, Aaron Hao.
Design and development of an autonomous scaled electric combat vehicle.
Degree: 2019, University of Ontario Institute of Technology
URL: http://hdl.handle.net/10155/1043
► Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing…
(more)
▼ Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel scaled robotic platform that features independent wheel actuation and
autonomous navigation capabilities is developed in this work to represent a potential future design of combat vehicles. The following thesis discusses the details of the mechanical systems in addition to the embedded electronics and software architecture. From there, previously developed mapping and
path planning algorithms in addition to a developed localization algorithm are implemented to achieve
autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations imposed by current navigation methodologies. The result of this work is a proposed prototype capable of navigation and precise positioning.
Advisors/Committee Members: El-Gindy, Moustafa, Lang, Haoxiang.
Subjects/Keywords: Autonomous; Combat vehicle; Obstacle avoidance; Path planning; ROS
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❌
APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Tan, A. H. (2019). Design and development of an autonomous scaled electric combat vehicle. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/1043
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Tan, Aaron Hao. “Design and development of an autonomous scaled electric combat vehicle.” 2019. Thesis, University of Ontario Institute of Technology. Accessed April 12, 2021.
http://hdl.handle.net/10155/1043.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Tan, Aaron Hao. “Design and development of an autonomous scaled electric combat vehicle.” 2019. Web. 12 Apr 2021.
Vancouver:
Tan AH. Design and development of an autonomous scaled electric combat vehicle. [Internet] [Thesis]. University of Ontario Institute of Technology; 2019. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10155/1043.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Tan AH. Design and development of an autonomous scaled electric combat vehicle. [Thesis]. University of Ontario Institute of Technology; 2019. Available from: http://hdl.handle.net/10155/1043
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

McMaster University
7.
Milo, Curtis.
Intersection Simulation and Path Estimation.
Degree: MASc, 2020, McMaster University
URL: http://hdl.handle.net/11375/25878
► As autonomous vehicles begin to move towards full autonomy, the controllers and software within them are becoming incredibly more complex to deal with any plausible…
(more)
▼ As autonomous vehicles begin to move towards full autonomy, the controllers and software within them are becoming incredibly more complex to deal with any plausible scenario. Automotive manufacturers must balance the need for safety with the customers' desire for performance and features. A robust set of tools is a necessity to develop vehicle control protocols and navigation strategies. Vehicle to everything communication protocols and path planning are two aspects of autonomous vehicles that need a large amount of development effort. The MathWorks has put a great amount of effort in developing a robust simulation tool for autonomous vehicles. However, it currently lacks a method to develop V2X communication and path routing. In this thesis, I developed an extension for the Mathworks Simulink autonomous driving toolbox to incorporate graph-based path planning and vehicle to vehicle communication. The navigation system models each road using standard civil engineering techniques, to calculate the intersection points and bounding areas for regions of interest. Based on these regions, a directed graph is created to aid in calculating the shortest path. The navigation system also provides a redundant method for path planning for poorly marked areas and intersections. The vehicle to vehicle communication system emulates the 802.11p protocol and deals with practical challenges such as latency to provide developers with a realistic environment in which to develop vehicle communication protocols. The final result is a simulation where multiple vehicles drive safely and efficiently throughout a city network, sending messages at regions of interest and follow computed paths to their desired destinations.
Thesis
Master of Applied Science (MASc)
Vehicle to Everything communication protocols and path planning are two aspects of autonomous vehicles that need a robust framework to aid in their development. I developed an extension for the Mathworks Simulink autonomous driving toolbox to incorporate graph-based path planning and vehicle to vehicle communication. The navigation system models each road using standard civil engineering techniques, to calculate the intersection points and bounding areas for regions of interest. Based on these regions, a directed graph is created to aid in calculating the shortest path. The navigation system also provides a redundant method for path planning for poorly marked areas and intersections. The vehicle to vehicle communication system emulates the 802.11p protocol and realistic effects such as latency to provide developers with a realistic environment to develop vehicle communication protocols. The final result is a simulation where multiple vehicles drive throughout a city network, sending messages at regions of interest and follow a computed path to their desired destination.
Advisors/Committee Members: Wassyng, Alan, Lawford, Mark, Computing and Software.
Subjects/Keywords: Path Planning; Autonomous Vehicles; Navigation; Functional Safety; Intersections; Vehicle to Vehicle Communication; Simulation; Mathworks
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Milo, C. (2020). Intersection Simulation and Path Estimation. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/25878
Chicago Manual of Style (16th Edition):
Milo, Curtis. “Intersection Simulation and Path Estimation.” 2020. Masters Thesis, McMaster University. Accessed April 12, 2021.
http://hdl.handle.net/11375/25878.
MLA Handbook (7th Edition):
Milo, Curtis. “Intersection Simulation and Path Estimation.” 2020. Web. 12 Apr 2021.
Vancouver:
Milo C. Intersection Simulation and Path Estimation. [Internet] [Masters thesis]. McMaster University; 2020. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/11375/25878.
Council of Science Editors:
Milo C. Intersection Simulation and Path Estimation. [Masters Thesis]. McMaster University; 2020. Available from: http://hdl.handle.net/11375/25878

University of California – Santa Cruz
8.
Gottlieb, Jeremy.
A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints.
Degree: Computer Science, 2014, University of California – Santa Cruz
URL: http://www.escholarship.org/uc/item/7zx423j4
► Robots are frequently being used to explore environments that are largely inaccessible to humans. Most people are familiar with the ground rovers such as Spirit,…
(more)
▼ Robots are frequently being used to explore environments that are largely inaccessible to humans. Most people are familiar with the ground rovers such as Spirit, Opportunity, and Curiosity that are on Mars. Autonomous underwater vehicles are becoming more widely used to conduct oceanographic surveys, particularly in places that people cannot go, such as under the polar ice caps. A large part of increasing the utility of these robotic missions will involve giving the robots significantly enhanced autonomy, particularly when it comes to planning precisely what aspects of the environment to survey and sample.Much of the research on robotic path planning has focused on finding minimal cost paths between two points, and being able to rapidly re-plan when environmental conditions change. Less research has been done into how robots should plan paths that allow them to maximize utility, such as information gathered. One of the primary reasons for this is that finding the optimal solution to the maximization problem is NP-hard, and thus cannot be computed in a tractable amount of time, much less in real time.This dissertation presents a computationally tractable method for allowing robots to plan paths that can approximately maximize information gathered while satisfying any relevant horizon constraints, such as a deadline. It builds atop existing algorithms known to be capable of rapid planning and re-planning, such as D*. The algorithm utilizes these methods for computing lowest-cost paths between nodes in the environment, and then planning which nodes to search based on a function of both the cost of exploration and the expected amount of information contained at the nodes. Experimental results in small environments show that the algorithm will mostly generate paths that are at least 75% of optimal.
Subjects/Keywords: Computer science; Artificial intelligence; Robotics; autonomous vehicle; AUV; path planning; robotic foraging; uncertainty
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APA ·
Chicago ·
MLA ·
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to Zotero / EndNote / Reference
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APA (6th Edition):
Gottlieb, J. (2014). A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints. (Thesis). University of California – Santa Cruz. Retrieved from http://www.escholarship.org/uc/item/7zx423j4
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gottlieb, Jeremy. “A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints.” 2014. Thesis, University of California – Santa Cruz. Accessed April 12, 2021.
http://www.escholarship.org/uc/item/7zx423j4.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gottlieb, Jeremy. “A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints.” 2014. Web. 12 Apr 2021.
Vancouver:
Gottlieb J. A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints. [Internet] [Thesis]. University of California – Santa Cruz; 2014. [cited 2021 Apr 12].
Available from: http://www.escholarship.org/uc/item/7zx423j4.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gottlieb J. A Computationally Tractable Information Foraging Algorithm That Satisfies Time-to-go Constraints. [Thesis]. University of California – Santa Cruz; 2014. Available from: http://www.escholarship.org/uc/item/7zx423j4
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
9.
Yan, Yutong.
Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles.
Degree: Applied Physics and Electronics, 2016, Umeå University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394
► The purpose of this project is to implement obstacle avoidance algorithms to drive the articulated vehicle autonomously in an unknown environment, which is simulated…
(more)
▼ The purpose of this project is to implement obstacle avoidance algorithms to drive the articulated vehicle autonomously in an unknown environment, which is simulated by AgX Dynamics™ simulation software and controlled by Matlab® programming software. Three driving modes are developed for driving the vehicle (Manual, Semi-autonomous and Autonomous) in this project. Path tracking algorithms and obstacle avoidance algorithms are implemented to navigate the vehicle. A GUI was built and used for the manual driving mode in this project. The semi-autonomous mode checked different cases: change lanes, U-turn, following a line, following a path and figure 8 course. The autonomous mode is implemented to drive the articulated vehicle in an unknown environment with moving to a pose path tracking algorithm and VFH+ obstacle avoidance algorithm. Thus, the simulation model and VFH+ obstacle avoidance algorithm seems to be working fine and still can be improved for the autonomous vehicle. The result of this project showed a good performance of the simulation model. Moreover, this simulation software helps to minimize the cost of the articulated vehicle since all tests are in the simulation rather than in the reality.
Subjects/Keywords: Agx Dynamics; Autonomous; Articulated Vehicle; Path Tracking; Obstacle Avoidance; VFH+; GUI; Matlab
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APA (6th Edition):
Yan, Y. (2016). Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles. (Thesis). Umeå University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Yan, Yutong. “Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles.” 2016. Thesis, Umeå University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Yan, Yutong. “Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles.” 2016. Web. 12 Apr 2021.
Vancouver:
Yan Y. Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles. [Internet] [Thesis]. Umeå University; 2016. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Yan Y. Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles. [Thesis]. Umeå University; 2016. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology
10.
Molčány, Peter.
Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model.
Degree: 2018, Brno University of Technology
URL: http://hdl.handle.net/11012/27790
► The aim of this thesis is designing and constructing path tracking vehicle. Thesis is divided into two major parts. In the first, we discuss hardware…
(more)
▼ The aim of this thesis is designing and constructing
path tracking
vehicle. Thesis is divided into two major parts. In the first, we discuss hardware possibilities of the model. Additional lighting system is needed for better performance in low-lighting conditions. Communication module is selected according to needs of this task. The second part is software design. Control software LineCruiser Monitor for PC was created and LineCruiser for Android was developed for the needs of efficient parameter reading and writing. Different
path detecting algorithms were tested. Information about the speed of the car was used for speed regulation. In the last chapter we evaluate the results
Advisors/Committee Members: Petyovský, Petr (advisor), Macho, Tomáš (referee).
Subjects/Keywords: sledovanie trasy; autonómne vozidlo; detekcia čiary; bezdrôtové ovládanie; path tracking; autonomous vehicle; wireless control
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Molčány, P. (2018). Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/27790
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Molčány, Peter. “Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model.” 2018. Thesis, Brno University of Technology. Accessed April 12, 2021.
http://hdl.handle.net/11012/27790.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Molčány, Peter. “Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model.” 2018. Web. 12 Apr 2021.
Vancouver:
Molčány P. Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model. [Internet] [Thesis]. Brno University of Technology; 2018. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/11012/27790.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Molčány P. Systém sledování trasy pro autonomní vozidlo: Path tracking system for autonomous car model. [Thesis]. Brno University of Technology; 2018. Available from: http://hdl.handle.net/11012/27790
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Georgia Tech
11.
Cowlagi, Raghvendra V.
Hierarchical motion planning for autonomous aerial and terrestrial vehicles.
Degree: PhD, Aerospace Engineering, 2011, Georgia Tech
URL: http://hdl.handle.net/1853/41066
► Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian…
(more)
▼ Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile
vehicle is the
vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the
vehicle such that the resulting
vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the
vehicle control laws, which requires tools from dynamical systems and control theory.
Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric
path planning level, finds a geometric
path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric
path followed by a suitable time parametrization to obtain a reference trajectory for the
vehicle.
Although simple and efficient, such hierarchical separation suffers a serious drawback: the geometric
path planner has no information of the kinematic and dynamic constraints of the
vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates altogether the geometric planner by planning in the
vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the
vehicle kinematic model.
In this thesis, we propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-
path problem on graphs, namely, one using costs defined on multiple edge transitions in the
path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric
path is always associated with a kinematically and dynamically feasible trajectory. We show that the proposed motion planning approach offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local…
Advisors/Committee Members: Panagiotis Tsiotras (Committee Chair), Eric Feron (Committee Member), Magnus Egerstedt (Committee Member), Mark Costello (Committee Member), Mike Stilman (Committee Member).
Subjects/Keywords: Multi-resolution; Motion planning; Robotics; Vehicle dynamics; Graph search; Curvature bounded path planning; Autonomous vehicles; Mobile robots; Robots; Autonomous robots
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Cowlagi, R. V. (2011). Hierarchical motion planning for autonomous aerial and terrestrial vehicles. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/41066
Chicago Manual of Style (16th Edition):
Cowlagi, Raghvendra V. “Hierarchical motion planning for autonomous aerial and terrestrial vehicles.” 2011. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/41066.
MLA Handbook (7th Edition):
Cowlagi, Raghvendra V. “Hierarchical motion planning for autonomous aerial and terrestrial vehicles.” 2011. Web. 12 Apr 2021.
Vancouver:
Cowlagi RV. Hierarchical motion planning for autonomous aerial and terrestrial vehicles. [Internet] [Doctoral dissertation]. Georgia Tech; 2011. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/41066.
Council of Science Editors:
Cowlagi RV. Hierarchical motion planning for autonomous aerial and terrestrial vehicles. [Doctoral Dissertation]. Georgia Tech; 2011. Available from: http://hdl.handle.net/1853/41066

Queensland University of Technology
12.
Al Sabban, Wesam H.
Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process.
Degree: 2015, Queensland University of Technology
URL: https://eprints.qut.edu.au/82297/
► One of the main challenges facing online and offline path planners is the uncertainty in the magnitude and direction of the environmental energy because it…
(more)
▼ One of the main challenges facing online and offline path planners is the uncertainty in the magnitude and direction of the environmental energy because it is dynamic, changeable with time, and hard to forecast. This thesis develops an artificial intelligence for a mobile robot to learn from historical or forecasted data of environmental energy available in the area of interest which will help for a persistence monitoring under uncertainty using the developed algorithm.
Subjects/Keywords: Autonomous Vehicle Path Planning; Path Planning Under Uncertainty; Markov Decision Process; Gaussian Based Markov Decision Process; GMDP; UAV; UAS; AUV
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Al Sabban, W. H. (2015). Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process. (Thesis). Queensland University of Technology. Retrieved from https://eprints.qut.edu.au/82297/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Al Sabban, Wesam H. “Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process.” 2015. Thesis, Queensland University of Technology. Accessed April 12, 2021.
https://eprints.qut.edu.au/82297/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Al Sabban, Wesam H. “Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process.” 2015. Web. 12 Apr 2021.
Vancouver:
Al Sabban WH. Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process. [Internet] [Thesis]. Queensland University of Technology; 2015. [cited 2021 Apr 12].
Available from: https://eprints.qut.edu.au/82297/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Al Sabban WH. Autonomous vehicle path planning for persistence monitoring under uncertainty using Gaussian based Markov decision process. [Thesis]. Queensland University of Technology; 2015. Available from: https://eprints.qut.edu.au/82297/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Iowa State University
13.
Zhang, Mengzhe.
Path planning for autonomous vehicles.
Degree: 2014, Iowa State University
URL: https://lib.dr.iastate.edu/etd/14258
► In this study, we first address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile…
(more)
▼ In this study, we first address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. Initially, we introduce the notion of pursuit fields for a single observer to track a single target around a corner based on the previous work. Pursuit fields are used to generate navigation strategies for a single observer. In order to account for the scenario with the presence of more than one observer or target, we propose a hierarchical approach. At first a ranking and aggregation technique is used for allocating each observer to a target. Subsequently, each observer computes its navigation strategy based on the results of the single observer-single target problem, thereby, decomposing a large multi-agent problem into numerous 2-agent problems. Based on the aforementioned analysis, we present a scalable algorithm that can accommodate an arbitrary number of observers and targets. The performance of this algorithm is evaluated based on simulation and implementation. To implement the strategy in reality, we further propose a setup of omni-directional camera, which can be used to get the visual information of the surroundings. With the help of this setup, we apply a position estimation technique for the pursuer to locate the evader. Experimental results show that the error has considerable effect when the measuring distance is very large. Due to this reason, the aforementioned tracking strategy is modified to keep the evader in an effective range for estimation. Finally, based on the error in position estimation, we present PID controllers for the pursuer to track the evader along a straight line. The responses of the proposed controllers are given by simulations.
Considering the situation that pursuer does not have an on board vision sensor, we propose a novel tracking strategy based on the information on social network. We first introduce the notion of common agents, who take pictures around and share them on social network website. In order to take advantage of these images, a network evolution algorithm and an image scanning algorithm are presented. Based on the information from these images, evader can be located accordingly. Implementation results are presented to validate the feasibility.
In the rest of the thesis, we address the scheduling and motion planning problem for an autonomous grain cart serving multiple combines. In the first part, we present the mathematical models of both combine harvester and grain cart. Based on the models, we propose a scheduling scheme which allows grain cart to unload all the combines without interruption in the harvesting activity. The proposed scheme is generalized to an arbitrary number of combines. In the second part, we present path planning analysis for the grain cart to switch between two combines. A numerical approach and a primitive-based approach are considered to obtain the time-optimal solution. The former approach needs a value function corresponding to the goal position to be computed beforehand. Based on the…
Subjects/Keywords: Mechanical Engineering; Agricultural vehicle; Autonomous vehicle; Path planning; Pursuit-evasion game; Scheduling; Target tracking; Mechanical Engineering
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Zhang, M. (2014). Path planning for autonomous vehicles. (Thesis). Iowa State University. Retrieved from https://lib.dr.iastate.edu/etd/14258
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Zhang, Mengzhe. “Path planning for autonomous vehicles.” 2014. Thesis, Iowa State University. Accessed April 12, 2021.
https://lib.dr.iastate.edu/etd/14258.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Zhang, Mengzhe. “Path planning for autonomous vehicles.” 2014. Web. 12 Apr 2021.
Vancouver:
Zhang M. Path planning for autonomous vehicles. [Internet] [Thesis]. Iowa State University; 2014. [cited 2021 Apr 12].
Available from: https://lib.dr.iastate.edu/etd/14258.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Zhang M. Path planning for autonomous vehicles. [Thesis]. Iowa State University; 2014. Available from: https://lib.dr.iastate.edu/etd/14258
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of New South Wales
14.
Wang, Jiefei.
Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle.
Degree: Engineering & Information Technology, 2016, University of New South Wales
URL: http://handle.unsw.edu.au/1959.4/56875
;
https://unsworks.unsw.edu.au/fapi/datastream/unsworks:41824/SOURCE01?view=true
► This thesis focuses on the issue of real-time low speed flight of Micro-Air-Vehicles(MAVs) in cluttered environments. In order to achieve real-time autonomous operation,we have developed…
(more)
▼ This thesis focuses on the issue of real-time low speed flight of Micro-Air-Vehicles(MAVs) in cluttered environments. In order to achieve real-time
autonomous operation,we have developed a navigation system for a Micro-Air-
Vehicle using a RGB-Dcamera. Low-cost range sensors are perfect alternatives for expensive laser scannersin many application areas. For our experiments, we make use of a recent developmentin consumer-grade range sensing technology, the Microsoft Kinect sensor,consisting of an infrared laser emitter, an infrared camera and a RGB camera.Dominant plane estimation is a fundamental task for obstacle detection andautonomous navigation of MAVs. A modified region growing technique for planedetection is developed with an incremental approach, optimised plane and meansquare error calculations, resulting in improvements to accuracy and efficiency.The Image Interpolation Algorithm (I2A) is used to calculate optical flow fromthe RGB-D camera intensity image sequences and corresponding depth information.A novel ego-motion recovery method is proposed by combining the range data withthe optical flow field Image Jacobian. For our algorithm, assumptions about themoving object or dynamic scenes are not needed. An Extended Kalman Filter isused to fuse inertial data with the ego-motion parameters. By integrating the egomotion,estimation of the velocity and position of the quadrotor is obtained in threedimensional space.With lack of information about the surroundings,
path planning in a clutteredenvironment is a very challenging task and fast re-planning is required when newobstacles are detected. The enhanced D* Lite algorithm is proposed for shorteningthe travel distance in cluttered environments and a novel dense scene flow estimationmethod is presented which can be used for detecting dynamic obstacles. An AscTecpelican quadrotor is used for real-time experiments.A Vicon Motion Tracking System provides the measurement parameters forground truth in order to analyse the system error. Based on real-time experimentsimplemented in cluttered environments, the different parts of the research resultsare tested and validated.
Advisors/Committee Members: Garratt, Matthew, Engineering & Information Technology, UNSW Canberra, UNSW.
Subjects/Keywords: Optical Flow; Micro Aerial Vehicle; Autonomous Ground Vehicle; Binary Image; Ego-motion Recovery; Sensor Fusion; Path Planning; Dense Scene Flow
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Wang, J. (2016). Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/56875 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:41824/SOURCE01?view=true
Chicago Manual of Style (16th Edition):
Wang, Jiefei. “Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle.” 2016. Doctoral Dissertation, University of New South Wales. Accessed April 12, 2021.
http://handle.unsw.edu.au/1959.4/56875 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:41824/SOURCE01?view=true.
MLA Handbook (7th Edition):
Wang, Jiefei. “Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle.” 2016. Web. 12 Apr 2021.
Vancouver:
Wang J. Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle. [Internet] [Doctoral dissertation]. University of New South Wales; 2016. [cited 2021 Apr 12].
Available from: http://handle.unsw.edu.au/1959.4/56875 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:41824/SOURCE01?view=true.
Council of Science Editors:
Wang J. Control of Low Speed Flight in Cluttered Environments Using Image Motion and Ranging on a Micro-Air Vehicle. [Doctoral Dissertation]. University of New South Wales; 2016. Available from: http://handle.unsw.edu.au/1959.4/56875 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:41824/SOURCE01?view=true

Linköping University
15.
Palm, Jakob Hanskov.
Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation.
Degree: Vehicular Systems, 2020, Linköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-172015
► Autonomous underwater vehicles have become a popular countermeasure to naval mines. Saab’s AUV62-MR detects, locates and identifies mine-like objects through three phases. By extracting…
(more)
▼ Autonomous underwater vehicles have become a popular countermeasure to naval mines. Saab’s AUV62-MR detects, locates and identifies mine-like objects through three phases. By extracting functionality from the AUV62-MR and placing it on a second vehicle, it is suggested that the second and third phases can be performed in parallel. This thesis investigates how to design the second vehicle so that the runtime of the mine reconnaissance process is minimized. A simulation framework is implemented to simulate the second and third phases of the mine reconnaissance process in order to test various design choices. The vehicle design choices in focus are the size and the route planning of the second vehicle. The route-planning algorithms investigated in this thesis are a nearest neighbour algorithm, a simulated annealing algorithm, an alternating algorithm, a genetic algorithm and a proposed Dubins simulated annealing algorithm. The algorithms are evaluated both in a static environment and in the simulation framework. Two different vehicle sizes are investigated, a small and a large, by evaluating their performances in the simulation framework. This thesis takes into account the limited travelling distance of the vehicle and implements a k-means clustering algorithm to help the route planner determine which mine-like objects can be scanned without exceeding the distance limit. The simulation framework is also used to evaluate whether parallel execution of the second and third phases outperforms the current sequential execution. The performance evaluation shows that a major reduction in runtime can be gained by performing the two phases in parallel. The Dubins simulated annealing algorithm on average produces the shortest paths and is considered the preferred route-planning algorithm according to the performance evaluation. It also indicates that a small vehicle size results in a reduced runtime compared to a larger vehicle.
Subjects/Keywords: autonomous underwater vehicle; AUV; multi-vehicle cooperation; route planning; mine reconnaissance; travelling salesman problem; TSP; genetic algorithm; simulated annealing; dubins path; Vehicle Engineering; Farkostteknik
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Palm, J. H. (2020). Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-172015
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Palm, Jakob Hanskov. “Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation.” 2020. Thesis, Linköping University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-172015.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Palm, Jakob Hanskov. “Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation.” 2020. Web. 12 Apr 2021.
Vancouver:
Palm JH. Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation. [Internet] [Thesis]. Linköping University; 2020. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-172015.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Palm JH. Route Planning and Design of Autonomous Underwater Mine Reconnaissance Through Multi-Vehicle Cooperation. [Thesis]. Linköping University; 2020. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-172015
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology
16.
Oude Grotebevelsborg, Rik (author).
A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:3c22ad76-0d80-4d28-88eb-ca1ff2d62b72
► Successful implementation of fully autonomous vehicles is a much desired objective. Within the area of unmanned marine craft or unmanned surface vehicles (USV), the implementation…
(more)
▼ Successful implementation of fully autonomous vehicles is a much desired objective. Within the area of unmanned marine craft or unmanned surface vehicles (USV), the implementation of truly autonomous navigation is still a challenge. During times in which humans are still actively involved in the processof maritime navigation, regulations are needed to prevent accidents from happening. It is therefore essential for the transition towards more autonomy that USVs are able to obey the regulations as well and clearly exhibit the right behavior to enable other ships to anticipate the behavior of USVs and reactappropriately and timely. In maritime navigation, ships have to obey the International Regulations for preventing collisions at sea, also known as COLREGS (COLlision REGulationS). This thesis is focused on the guidance of USVs, and is specifically aimed at COLREGS compliant path re-planning to avoid potential collisions. A first method has been conceived based upon the SaturatedFast Marching Square method where trailing points are used to correctly guide the USV past dynamic vessels according to COLREGS. A second novel method builds upon the previous one, by combining the Saturated Fast Marching Square method with a path generating Genetic Algorithm. The first methodperforms as supposed in simple environments such as when encountering a single dynamic obstacle. However, the first method starts to under-perform as complexity increases through the presence of both static and dynamic obstacles. The additional second method performs accurately in complex scenariosas well. Both methods have been tested in single case simulations and in extensive random simulations to assess their COLREGS compliant path re-planning accuracy.
Systems and Control
Advisors/Committee Members: Giordano, Giulia (mentor), van den Boom, Ton (graduation committee), Kok, Manon (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Fast Marching Method; Genetic Algorithm; USV; Unmanned Autonomous Vehicle; Path Planning; COLREGS; GA; waypoints; Saturated Fast Marching Square; Pure Pursuit Controller
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Oude Grotebevelsborg, R. (. (2019). A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:3c22ad76-0d80-4d28-88eb-ca1ff2d62b72
Chicago Manual of Style (16th Edition):
Oude Grotebevelsborg, Rik (author). “A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles.” 2019. Masters Thesis, Delft University of Technology. Accessed April 12, 2021.
http://resolver.tudelft.nl/uuid:3c22ad76-0d80-4d28-88eb-ca1ff2d62b72.
MLA Handbook (7th Edition):
Oude Grotebevelsborg, Rik (author). “A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles.” 2019. Web. 12 Apr 2021.
Vancouver:
Oude Grotebevelsborg R(. A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 12].
Available from: http://resolver.tudelft.nl/uuid:3c22ad76-0d80-4d28-88eb-ca1ff2d62b72.
Council of Science Editors:
Oude Grotebevelsborg R(. A Novel Fast Marching Approach for COLREGS Compliant Dynamic Obstacle Avoidance for Unmanned Surface Vehicles. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:3c22ad76-0d80-4d28-88eb-ca1ff2d62b72

University of Pennsylvania
17.
Keller, James F.
Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles.
Degree: 2016, University of Pennsylvania
URL: https://repository.upenn.edu/edissertations/2381
► This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing…
(more)
▼ This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles
(UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission,
fixed wing vehicles have maneuver constraints that can limit their performance in this role.
Current technology vehicles are capable of long duration flight with a minimal acoustic
footprint while carrying an array of cameras and sensors. Both military tactical and civilian
safety applications can benefit from this technology. We make three main contributions:
C1 A sequential path planner that generates a C2 flight plan to persistently acquire a
covering set of data over a user designated area of interest. The planner features the
following innovations:
• A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length
• A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction
• A smooth path generator that provides C2 routes that satisfy user specified curvature constraints
C2 A set of algorithms to coordinate multiple UAVs, including mission commencement
from arbitrary locations to the start of a coordinated mission and de-confliction of
paths to avoid collisions with other vehicles and fixed obstacles
iv
C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing
validated through flight test experiments on multiple platforms. A variety of tests
and platforms are discussed.
The algorithms presented are based on a technical approach with approximately equal
emphasis on analysis, computation, dynamic simulation, and flight test experimentation.
Our planner (C1) directly takes into account vehicle maneuverability and agility constraints
that could otherwise render simple solutions infeasible. This is especially important when
surveillance objectives elevate the importance of optimized paths. Researchers have devel
oped a diverse range of solutions for persistent surveillance applications but few directly
address dynamic maneuver constraints.
The key feature of C1 is a two stage sequential solution that discretizes the problem so that
graph search techniques can be combined with parametric polynomial curve generation.
A method to abstract the kino-dynamics of the aerial platforms is then presented so that
a graph search solution can be adapted for this application. An A* Traveling Salesman
Problem (TSP) algorithm is developed to search the discretized space using the abstract
distance metric to acquire more data or avoid obstacles. Results of the graph search are
then transcribed into smooth paths based on vehicle maneuver constraints. A complete
solution for a single vehicle periodic tour of the area is developed using the results of the
graph search algorithm. To execute the mission, we present a simultaneous arrival algorithm
(C2) to coordinate execution by multiple vehicles to satisfy data refresh requirements and
to ensure there are no collisions at any of the path intersections.
We present a toolbox of spline-based algorithms (C3) to…
Subjects/Keywords: autonomous aerial vehicle; B-splines; continuous curvature paths; curvature constrained paths; path planning; persistent surveillance; Aerospace Engineering; Mechanical Engineering; Robotics
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
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APA (6th Edition):
Keller, J. F. (2016). Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/2381
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Keller, James F. “Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles.” 2016. Thesis, University of Pennsylvania. Accessed April 12, 2021.
https://repository.upenn.edu/edissertations/2381.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Keller, James F. “Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles.” 2016. Web. 12 Apr 2021.
Vancouver:
Keller JF. Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles. [Internet] [Thesis]. University of Pennsylvania; 2016. [cited 2021 Apr 12].
Available from: https://repository.upenn.edu/edissertations/2381.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Keller JF. Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles. [Thesis]. University of Pennsylvania; 2016. Available from: https://repository.upenn.edu/edissertations/2381
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Naval Postgraduate School
18.
Ong, Seow Meng.
A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
.
Degree: 1990, Naval Postgraduate School
URL: http://hdl.handle.net/10945/23457
► Unmanned vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from…
(more)
▼ Unmanned
vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from deep-ocean exploration to anti-submarine warefare. Indeed, the feasiblity of short-range, special-purpose vehicles (whether aunonomous or remotely operated) is no longer in question. The research efforts have now begun to shift their focus on development of reliable, longer-range, high-endurance and fully
autonomous systems. One of the major underlying technologies required to realize this goal is Artificial Intelligence (AI). The latter offers great potential to endow vehicles with the intelligence needed for full autonomy and extended range capability; this involves the increased application of AI technologies to support mission planning and execution, navigation and contingency planning. This thesis addresses two issues associated with the above goal for
Autonomous Underwater Vehicles (AUV's). Firstly, a new approach is proposed for
path planning in underwater environments that is capable of dealing with uncharted obstacles and which requires significantly less planning time and computer memory. Secondly, it explores the use of expert system technology in the planning of AUV missions.
Advisors/Committee Members: Kwak, Se-Hung (advisor).
Subjects/Keywords: Mission Planning;
Mission Control;
Path-Planning;
Path-Search;
Heuristic search;
Autonomous Underwater Vehicle;
Autonomous Vehicle;
Expert System
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ong, S. M. (1990). A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
. (Thesis). Naval Postgraduate School. Retrieved from http://hdl.handle.net/10945/23457
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ong, Seow Meng. “A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
.” 1990. Thesis, Naval Postgraduate School. Accessed April 12, 2021.
http://hdl.handle.net/10945/23457.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ong, Seow Meng. “A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
.” 1990. Web. 12 Apr 2021.
Vancouver:
Ong SM. A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
. [Internet] [Thesis]. Naval Postgraduate School; 1990. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10945/23457.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ong SM. A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle
. [Thesis]. Naval Postgraduate School; 1990. Available from: http://hdl.handle.net/10945/23457
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
19.
Breg, Alexander Noel.
Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data.
Degree: MSin Engineering, Electrical Engineering, College of Engineering & Computer Science, 2018, University of Michigan
URL: http://hdl.handle.net/2027.42/146791
► This paper presents a neural network developed for predicting the path of a remote vehicle using post facto created vehicle-to-vehicle (V2V) data and uses that…
(more)
▼ This paper presents a neural network developed for predicting the
path of a remote
vehicle using post facto created
vehicle-to-
vehicle (V2V) data and uses that prediction to determine whether it is safe for the host
vehicle to change lanes. The data was collected in a 2013 experiment involving various drivers traveling on public roads in Ann Arbor, MI. The trips were on suburban roads, city roads and divided highways over a two-day period. The vehicular satellite global positioning system (GPS) data from movement over this period was gathered and post-processed to find
vehicle paths within 10 meters of one another. The
path traces of the two vehicles were combined to simulate what a V2V network would have provided to properly equipped vehicles if such a network and vehicles existed on real road networks demonstrating natural driving behavior. This research harnesses this data to determine the increased effectiveness of a neural network predicting the future
path of remote vehicles and lane change safety when a V2V network is available. The most studied maneuver is overtaking. To a lesser extent, this paper also provides a view into how a neural network predicts remote
vehicle behaviors using a host
vehicle equipped with only perceptive hardware and no given information from the remote
vehicle.
Advisors/Committee Members: Murphey, Yi Lu (advisor), Watta, Paul (committee member).
Subjects/Keywords: Autonomous vehicle; Path planning; Path prediction; Neural network; Vehicle-to-vehicle; Electrical engineering
…43
vii
List of Appendices
Appendix 1: California Department of Motor Vehicle Autonomous… …autonomous vehicle accident reports to the State of California Department of
Motor Vehicles [… …where an autonomous vehicle was controlling the vehicle were a result of the remote, human… …ten miles per hour or less on average. The autonomous vehicle collisions occur at a higher… …who perfectly follow
the rules of the road indicates that the autonomous vehicle may be…
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Breg, A. N. (2018). Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data. (Masters Thesis). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/146791
Chicago Manual of Style (16th Edition):
Breg, Alexander Noel. “Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data.” 2018. Masters Thesis, University of Michigan. Accessed April 12, 2021.
http://hdl.handle.net/2027.42/146791.
MLA Handbook (7th Edition):
Breg, Alexander Noel. “Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data.” 2018. Web. 12 Apr 2021.
Vancouver:
Breg AN. Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data. [Internet] [Masters thesis]. University of Michigan; 2018. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/2027.42/146791.
Council of Science Editors:
Breg AN. Neural Network Predicting Remote Vehicle Movement with Vehicle-to-Vehicle Data. [Masters Thesis]. University of Michigan; 2018. Available from: http://hdl.handle.net/2027.42/146791

McMaster University
20.
Amirfarhangi Bonab, Saeed.
ASEMS: Autonomous Specific Energy Management Strategy.
Degree: MSME, 2019, McMaster University
URL: http://hdl.handle.net/11375/24847
► This thesis addresses the problem of energy management of a hybrid electric power unit for an autonomous vehicle. We introduce, evaluate, and discuss the idea…
(more)
▼ This thesis addresses the problem of energy management of a hybrid electric power unit for an autonomous vehicle. We introduce, evaluate, and discuss the idea of autonomous-specific energy management strategy. This method is an optimization-based strategy which improves the powertrain fuel economy by exploiting motion planning data.
First, to build a firm base for further evaluations, we will develop a high-fidelity system-level model for our case study using MATLAB/Simulink. This model mostly concerns about energy-related aspects of the powertrain and the vehicle. We will derive and implement the equations for each of the model subsystems. We derive model parameters using available data in the literature or online. Evaluation of the developed model shows acceptable conformity with the actual dynamometer data. We will use this model to replace the built-in rule-based logic with the proposed strategy and assess the performance.\par
Second, since we are considering an optimization-based approach, we will develop a novel convex representation of the vehicle and powertrain model. This translates to reformulating the model equations using convex functions. Consequently, we will express the fuel-efficient energy management problem as the convex optimization problem. We will solve the optimization problem using dedicated numerical solvers. Extracting the control inputs using this approach and applying them on the high-fidelity model provides similar results to dynamic programming in terms of fuel consumption but in substantially less amount of time. This will act as a pivot for the subsequent real-time analysis.\par
Third, we will perform a proof-of-concept for the autonomous-specific energy management strategy. We implement an optimization-based path and trajectory planning for a vehicle in the simplified driving scenario of a racing track. Accordingly, we use motion planning data to obtain the energy management strategy by solving an optimization problem. We will let the vehicle to travel around the circuit with the ability to perceive and plan up to an observable horizon using the receding horizon approach. Developed approach for energy management strategy shows a substantial reduction in the fuel consumption of the high-fidelity model, compared to the rule-based controller.
Thesis
Master of Science in Mechanical Engineering (MSME)
The automotive industry is on the verge of groundbreaking transformations as a result of electrification and autonomous driving. Electrified autonomous car of the future is sustainable, energy-efficient, more convenient, and safer. In addition to the advantages of electrification and autonomous driving individually, the intersection and interaction of these mainstreams provide new opportunities for further improvements on the vehicles. Autonomous cars generate an unprecedented amount of real-time data due to excessive use of perception sensors and processing units. This thesis considers the case of an autonomous hybrid electric vehicle and presents the novel idea of…
Advisors/Committee Members: Emadi, Ali, Mechanical Engineering.
Subjects/Keywords: Autonomous Vehicle; Hybrid Electric Vehicle; Autonomous Driving; Energy Management Strategy; Self-driving car; Optimization; Convex Optimization; Electrification; Sustainability; Optimal Control; Model Predictive Control; Receding Horizon; Fuel Economy; Path Planning; Trajectory Planning; Powertrain
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Amirfarhangi Bonab, S. (2019). ASEMS: Autonomous Specific Energy Management Strategy. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/24847
Chicago Manual of Style (16th Edition):
Amirfarhangi Bonab, Saeed. “ASEMS: Autonomous Specific Energy Management Strategy.” 2019. Masters Thesis, McMaster University. Accessed April 12, 2021.
http://hdl.handle.net/11375/24847.
MLA Handbook (7th Edition):
Amirfarhangi Bonab, Saeed. “ASEMS: Autonomous Specific Energy Management Strategy.” 2019. Web. 12 Apr 2021.
Vancouver:
Amirfarhangi Bonab S. ASEMS: Autonomous Specific Energy Management Strategy. [Internet] [Masters thesis]. McMaster University; 2019. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/11375/24847.
Council of Science Editors:
Amirfarhangi Bonab S. ASEMS: Autonomous Specific Energy Management Strategy. [Masters Thesis]. McMaster University; 2019. Available from: http://hdl.handle.net/11375/24847
21.
Pedro Fernando Martín Gómez.
Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores.
Degree: 2013, Federal University of Uberlândia
URL: http://www.bdtd.ufu.br//tde_busca/arquivo.php?codArquivo=5365
► A presente tese trata do desenvolvimento de um sistema autônomo, capaz de se deslocar dentro de uma cultura com precisão e de forma eficaz, sendo…
(more)
▼ A presente tese trata do desenvolvimento de um sistema autônomo, capaz de se deslocar dentro de uma cultura com precisão e de forma eficaz, sendo funcional e viável economicamente para fazer dosagem de fertilizantes nas pequenas culturas, que constituem o maior percentual da área de produção agrícola na Colômbia. Nela foi desenvolvido um sistema capaz de fazer mapeamento dos limites da cultura com GPS submétrico no sinal livre, sem correção em tempo real e gerada uma metodologia própria e inovadora que integra vários sistemas diferentes, para um nível piloto de um hectare. Os dados do GPS são armazenados num arquivo e utilizados para correção dos limites com um aplicativo desenvolvido, usando métodos de interpolação e otimização com splines cúbicas, para fazer a distribuição da cultura e estabelecer os pontos de posicionamento automático do veículo dentro da cultura. Com estas coordenadas são geradas as trajetórias, com um algoritmo utilizado na robótica da agricultura, para se deslocar entre dois pontos cumprindo as tarefas da cultura e interagindo com um computador remoto através de uma rede sem fio tipo Xbee. O resultado é um sistema suportado num veículo capaz de fazer a dosagem do fertilizante líquido controlado com erro inferior a 3% em volume, com possibilidade de se deslocar numa cultura seguindo os pontos de trajetória gerados pelo algoritmo A* com erro menor aos 10 cm, baseado no sensoriamento embarcado no veículo e supervisionado por computador remoto.
This thesis deals on the development an autonomous system, able to move within a culture accurately and effectively, being functional and economically viable in small cultures, which constitute the most percentage to agricultural production area in Colombia. A system capable to mapping the boundaries of culture it has develop with sub metric GPS in free signal without real time correction, and generate an innovative and proprietary methodology that integrates many different systems to a level pilot of one hectare. The GPS data are stored in a file and used for limits correction with software developed, using methods of interpolation and optimization with cubic splines, to make the distribution of culture and establishment the points of automatic positioning to the vehicle within the culture. With these coordinates, the trajectories are generate using A* algorithm to move between two points fulfilling the tasks of culture, interacting with a remote computer over wireless network Xbee. The result is a vehicle capable of dispensing liquid fertilizer with an error less than 3% by volume, with the possibility of moving in a culture following the trajectory generated by A* algorithm with error less than 10 cm, based on the embedded sensing in the vehicle and supervised by remote computer.
Advisors/Committee Members: Israel Jorge Cárdenas Nuñez, Oscar Saul Hernandez Mendoza, Enio Pedone Bandarra Filho, Rogério Sales Gonçalves, Joao Manoel Dias Pimenta.
Subjects/Keywords: Agricultura de precisão; Veículo autônomo; Dosagem de adubos; Planejamento de trajetórias; ENGENHARIA MECANICA; Adubos e fertilizantes; Precision farming; Autonomous vehicle; Dosage fertilizers; Path planning
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gómez, P. F. M. (2013). Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores. (Thesis). Federal University of Uberlândia. Retrieved from http://www.bdtd.ufu.br//tde_busca/arquivo.php?codArquivo=5365
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gómez, Pedro Fernando Martín. “Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores.” 2013. Thesis, Federal University of Uberlândia. Accessed April 12, 2021.
http://www.bdtd.ufu.br//tde_busca/arquivo.php?codArquivo=5365.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gómez, Pedro Fernando Martín. “Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores.” 2013. Web. 12 Apr 2021.
Vancouver:
Gómez PFM. Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores. [Internet] [Thesis]. Federal University of Uberlândia; 2013. [cited 2021 Apr 12].
Available from: http://www.bdtd.ufu.br//tde_busca/arquivo.php?codArquivo=5365.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gómez PFM. Distribuição inteligente de adubos químicos via GPS com tecnologia para pequenos produtores. [Thesis]. Federal University of Uberlândia; 2013. Available from: http://www.bdtd.ufu.br//tde_busca/arquivo.php?codArquivo=5365
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
22.
Schmiterlöw, Maria.
Autonomous Path Following Using Convolutional Networks.
Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78670
► Autonomous vehicles have many application possibilities within many different fields like rescue missions, exploring foreign environments or unmanned vehicles etc. For such system to…
(more)
▼ Autonomous vehicles have many application possibilities within many different fields like rescue missions, exploring foreign environments or unmanned vehicles etc. For such system to navigate in a safe manner, high requirements of reliability and security must be fulfilled.
This master's thesis explores the possibility to use the machine learning algorithm convolutional network on a robotic platform for autonomous path following. The only input to predict the steering signal is a monochromatic image taken by a camera mounted on the robotic car pointing in the steering direction. The convolutional network will learn from demonstrations in a supervised manner.
In this thesis three different preprocessing options are evaluated. The evaluation is based on the quadratic error and the number of correctly predicted classes. The results show that the convolutional network has no problem of learning a correct behaviour and scores good result when evaluated on similar data that it has been trained on. The results also show that the preprocessing options are not enough to ensure that the system is environment dependent.
Subjects/Keywords: Machine Learning; Autonomous Vehicle; Convolutional Network; Path Following
…learning algorithm convolutional network for the application of autonomous path following on
a… …compared with other sensors, less
expensive, less bulky and less power consuming etc.
Autonomous… …fulfilled. A lot of research has
been done the last 20 years in the field of autonomous robot… …to predict traversable areas. Another famous autonomous driving
system is [21]… …signal. The robot tries to follow a path that
is similar to the one the convolutional network…
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Schmiterlöw, M. (2012). Autonomous Path Following Using Convolutional Networks. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78670
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Schmiterlöw, Maria. “Autonomous Path Following Using Convolutional Networks.” 2012. Thesis, Linköping UniversityLinköping University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78670.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Schmiterlöw, Maria. “Autonomous Path Following Using Convolutional Networks.” 2012. Web. 12 Apr 2021.
Vancouver:
Schmiterlöw M. Autonomous Path Following Using Convolutional Networks. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78670.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Schmiterlöw M. Autonomous Path Following Using Convolutional Networks. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78670
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
23.
Norén, Christoffer.
Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control.
Degree: The Institute of Technology, 2013, Linköping UniversityLinköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547
► In the future autonomous vehicles are expected to navigate independently and manage complex traffic situations. This thesis is one of two theses initiated with…
(more)
▼ In the future autonomous vehicles are expected to navigate independently and manage complex traffic situations. This thesis is one of two theses initiated with the aim of researching which methods could be used within the field of autonomous vehicles. The purpose of this thesis was to investigate how Model Predictive Control could be used in the field of autonomous vehicles. The tasks to generate a safe and economic path, to re-plan to avoid collisions with moving obstacles and to operate the vehicle have been studied. The algorithm created is set up as a hierarchical framework defined by a high and a low level planner. The objective of the high level planner is to generate the global route while the objectives of the low level planner are to operate the vehicle and to re-plan to avoid collisions. Optimal Control problems have been formulated in the high level planner for the use of path planning. Different objectives of the planning have been investigated e.g. the minimization of the traveled length between the start and the end point. Approximations of the static obstacles' forbidden areas have been made with circles. A Quadratic Programming framework has been set up in the low level planner to operate the vehicle to follow the high level pre-computed path and to locally re-plan the route to avoid collisions with moving obstacles. Four different strategies of collision avoidance have been implemented and investigated in a simulation environment.
Subjects/Keywords: Path Planning; MPC; NMPC; Autonomous Vehicle; Optimal Control; Move Blocking
…path for a heavy duty vehicle in an unstructured
environment, which can be an open space e.g… …GPS coordinates
with a specified heading for the vehicle. The objective of the path planning… …is
a safe and economic path from the start point to the end point. As the vehicle
travels… …used in
the field of autonomous vehicles. Both the ability to plan a path for a heavy duty… …vehicle and operate it along this path will be investigated.
Parallel to this project a similar…
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Norén, C. (2013). Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Norén, Christoffer. “Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control.” 2013. Thesis, Linköping UniversityLinköping University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Norén, Christoffer. “Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control.” 2013. Web. 12 Apr 2021.
Vancouver:
Norén C. Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control. [Internet] [Thesis]. Linköping UniversityLinköping University; 2013. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Norén C. Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control. [Thesis]. Linköping UniversityLinköping University; 2013. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Linköping University
24.
Mörhed, Joakim.
Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.
Degree: Automatic Control, 2017, Linköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496
► The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully…
(more)
▼ The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully autonomous; one of which is the ability to perform a parking at the end of a mission. The objective of this thesis work is to develop and implement an automatic parking system (APS) for a heavy-duty vehicle (HDV). A delimitation in this thesis work is that the parking lot has a known structure and the HDV is a truck without any trailer and access to more computational power and sensors than today's commercial trucks. An automatic system for searching the parking lot has been developed which updates an occupancy grid map (OGM) based on measurements from GPS and LIDAR sensors mounted on the truck. Based on the OGM and the known structure of the parking lot, the state of the parking spots is determined and a path can be computed between the current and desired position. Based on a kinematic model of the HDV, a gain-scheduled linear quadratic (LQ) controller with feedforward action is developed. The controller's objective is to stabilize the lateral error dynamics of the system around a precomputed path. The LQ controller explicitly takes into account that there exist an input delay in the system. Due to minor complications with the precomputed path the LQ controller causes the steering wheel turn too rapidly which makes the backup driver nervous. To limit these rapid changes of the steering wheel a controller based on model predictive control (MPC) is developed with the goal of making the steering wheel behave more human-like. A constraint for maximum allowed changes of the controller output is added to the MPC formulation as well as physical restrictions and the resulting MPC controller is smoother and more human-like, but due to computational limitations the controller turns out less effective than desired. Development and testing of the two controllers are evaluated in three different environments of varying complexity; the simplest simulation environment contains a basic vehicle model and serves as a proof of concept environment, the second simulation environment uses a more realistic vehicle model and finally the controllers are evaluated on a full-scale HDV. Finally, system tests of the APS are performed and the HDV successfully parks with the LQ controller as well as the MPC controller. The concept of a self-parking HDV has been demonstrated even though more tuning and development needs to be done before the proposed APS can be used in a commercial HDV.
Subjects/Keywords: Control theory; Automatic parking; Autonomous; Parking; Path following; Controller; Heavy-Duty vehicle; Scania; Occupancy grid map; Linear quadratic control; LQ controller; Model predictive control; MPC controller; HDV; Control Engineering; Reglerteknik
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
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APA (6th Edition):
Mörhed, J. (2017). Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Mörhed, Joakim. “Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.” 2017. Thesis, Linköping University. Accessed April 12, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Mörhed, Joakim. “Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.” 2017. Web. 12 Apr 2021.
Vancouver:
Mörhed J. Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. [Internet] [Thesis]. Linköping University; 2017. [cited 2021 Apr 12].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Mörhed J. Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. [Thesis]. Linköping University; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Loughborough University
25.
Ding, Runxiao.
Contextual information aided target tracking and path planning for autonomous ground vehicles.
Degree: PhD, 2016, Loughborough University
URL: http://hdl.handle.net/2134/23268
► Recently, autonomous vehicles have received worldwide attentions from academic research, automotive industry and the general public. In order to achieve a higher level of automation,…
(more)
▼ Recently, autonomous vehicles have received worldwide attentions from academic research, automotive industry and the general public. In order to achieve a higher level of automation, one of the most fundamental requirements of autonomous vehicles is the capability to respond to internal and external changes in a safe, timely and appropriate manner. Situational awareness and decision making are two crucial enabling technologies for safe operation of autonomous vehicles. This thesis presents a solution for improving the automation level of autonomous vehicles in both situational awareness and decision making aspects by utilising additional domain knowledge such as constraints and influence on a moving object caused by environment and interaction between different moving objects. This includes two specific sub-systems, model based target tracking in environmental perception module and motion planning in path planning module. In the first part, a rigorous Bayesian framework is developed for pooling road constraint information and sensor measurement data of a ground vehicle to provide better situational awareness. Consequently, a new multiple targets tracking (MTT) strategy is proposed for solving target tracking problems with nonlinear dynamic systems and additional state constraints. Besides road constraint information, a vehicle movement is generally affected by its surrounding environment known as interaction information. A novel dynamic modelling approach is then proposed by considering the interaction information as virtual force which is constructed by involving the target state, desired dynamics and interaction information. The proposed modelling approach is then accommodated in the proposed MTT strategy for incorporating different types of domain knowledge in a comprehensive manner. In the second part, a new path planning strategy for autonomous vehicles operating in partially known dynamic environment is suggested. The proposed MTT technique is utilized to provide accurate on-board tracking information with associated level of uncertainty. Based on the tracking information, a path planning strategy is developed to generate collision free paths by not only predicting the future states of the moving objects but also taking into account the propagation of the associated estimation uncertainty within a given horizon. To cope with a dynamic and uncertain road environment, the strategy is implemented in a receding horizon fashion.
Subjects/Keywords: 629.2; Autonomous vehicle; ADAS; Target tracking; State estimation; Path planning; Moving horizon estimation; Model predictive control; Multiple hypothesis tracking; Social force model; Multiple target tracking
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ding, R. (2016). Contextual information aided target tracking and path planning for autonomous ground vehicles. (Doctoral Dissertation). Loughborough University. Retrieved from http://hdl.handle.net/2134/23268
Chicago Manual of Style (16th Edition):
Ding, Runxiao. “Contextual information aided target tracking and path planning for autonomous ground vehicles.” 2016. Doctoral Dissertation, Loughborough University. Accessed April 12, 2021.
http://hdl.handle.net/2134/23268.
MLA Handbook (7th Edition):
Ding, Runxiao. “Contextual information aided target tracking and path planning for autonomous ground vehicles.” 2016. Web. 12 Apr 2021.
Vancouver:
Ding R. Contextual information aided target tracking and path planning for autonomous ground vehicles. [Internet] [Doctoral dissertation]. Loughborough University; 2016. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/2134/23268.
Council of Science Editors:
Ding R. Contextual information aided target tracking and path planning for autonomous ground vehicles. [Doctoral Dissertation]. Loughborough University; 2016. Available from: http://hdl.handle.net/2134/23268

Virginia Tech
26.
Mellodge, Patricia.
Feedback Control for a Path Following Robotic Car.
Degree: MS, Electrical and Computer Engineering, 2002, Virginia Tech
URL: http://hdl.handle.net/10919/32100
► This thesis describes the current state of development of the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI). The…
(more)
▼ This thesis describes the current state of development of the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI). The FLASH lab and the scale model cars contained therein provide a testbed for the small scale development stage of intelligent transportation systems (ITS). In addition, the FLASH lab serves as a home to the prototype display being developed for an educational museum exhibit.
This thesis also gives details of the
path following lateral controller implemented on the FLASH car. The controller was developed using the kinematic model for a wheeled robot. The global model is converted into the
path coordinate model so that only local variables are needed. then the
path coordinate model is converted into chained form and a controller is given to perform
path following.
The
path coordinate model introduces a new parameter to the system: the curvature of the
path. Thus, it is necessary to provide the
path's curvature value to the controller. Because of the environment in which the car is operating, the curvature values are known a priori. Several online methods for determining the curvature are developed.
A MATLAB simulation environment was created with which to test the above algorithms. The simulation uses the kinematic model to show the car's behavior and implements the sensors and controller as closely as possible to the actual system.
The implementation of the lateral controller in hardware is discussed. The
vehicle platform is described and the harware and software architecture detailed. The car described is capable of operating manually and autonomously. In
autonomous mode, several sensors are utilized including: infrared, magnetic, ultrasound, and image based technology. The operation of each sensor type is described and the information received by the processor from each is discussed.
Advisors/Committee Members: Kachroo, Pushkin (committeechair), VanLandingham, Hugh F. (committee member), Abbott, A. Lynn (committee member).
Subjects/Keywords: lateral control; intelligent transportation system; curvature estimation; path following; autonomous vehicle; nonholonomic
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Mellodge, P. (2002). Feedback Control for a Path Following Robotic Car. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/32100
Chicago Manual of Style (16th Edition):
Mellodge, Patricia. “Feedback Control for a Path Following Robotic Car.” 2002. Masters Thesis, Virginia Tech. Accessed April 12, 2021.
http://hdl.handle.net/10919/32100.
MLA Handbook (7th Edition):
Mellodge, Patricia. “Feedback Control for a Path Following Robotic Car.” 2002. Web. 12 Apr 2021.
Vancouver:
Mellodge P. Feedback Control for a Path Following Robotic Car. [Internet] [Masters thesis]. Virginia Tech; 2002. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10919/32100.
Council of Science Editors:
Mellodge P. Feedback Control for a Path Following Robotic Car. [Masters Thesis]. Virginia Tech; 2002. Available from: http://hdl.handle.net/10919/32100

Virginia Tech
27.
Schworer, Ian Josef.
Navigation and Control of an Autonomous Vehicle.
Degree: MS, Electrical and Computer Engineering, 2005, Virginia Tech
URL: http://hdl.handle.net/10919/32634
► The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive…
(more)
▼ The navigation and control of an
autonomous vehicle is a highly complex task. Making a
vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An
autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an
autonomous vehicle. This thesis will address this problem and propose a unique navigation and control scheme for an
autonomous lawn mower (ALM).
Navigation is a key aspect when designing an
autonomous vehicle. An
autonomous vehicle must be able to sense its location, navigate its way toward its destination, and avoid obstacles it encounters. Since this thesis attempts to automate the lawn mowing process, it will present a navigational algorithm that covers a bounded region in a systematic way, while avoiding obstacles. This algorithm has many applications including search and rescue, floor cleaning, and lawn mowing. Furthermore, the robustness and utility of this algorithm is demonstrated in a 3D simulation.
This thesis will specifically study the dynamics of a two-wheeled differential drive
vehicle. Using this dynamic model, various control techniques can then be applied to control the movement of the
vehicle. This thesis will consider both open loop and closed loop control schemes. Optimal control,
path following, and trajectory tracking are all considered, simulated, and evaluated as practical solutions for control of an ALM.
To design and build an
autonomous vehicle requires the integration of many sensors, actuators, and controllers. Software serves as the glue to fuse all these devices together. This thesis will suggest various sensors and actuators that could be used to physically implement an ALM. This thesis will also describe the operation of each sensor and actuator, present the software used to control the system, and discuss physical limitations and constraints that might be encountered while building an ALM.
Advisors/Committee Members: Kachroo, Pushkin (committeechair), Baumann, William T. (committee member), Abbott, A. Lynn (committee member).
Subjects/Keywords: mobile robot navigation; optimal control; trajectory tracking; autonomous vehicle; path following
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Schworer, I. J. (2005). Navigation and Control of an Autonomous Vehicle. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/32634
Chicago Manual of Style (16th Edition):
Schworer, Ian Josef. “Navigation and Control of an Autonomous Vehicle.” 2005. Masters Thesis, Virginia Tech. Accessed April 12, 2021.
http://hdl.handle.net/10919/32634.
MLA Handbook (7th Edition):
Schworer, Ian Josef. “Navigation and Control of an Autonomous Vehicle.” 2005. Web. 12 Apr 2021.
Vancouver:
Schworer IJ. Navigation and Control of an Autonomous Vehicle. [Internet] [Masters thesis]. Virginia Tech; 2005. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10919/32634.
Council of Science Editors:
Schworer IJ. Navigation and Control of an Autonomous Vehicle. [Masters Thesis]. Virginia Tech; 2005. Available from: http://hdl.handle.net/10919/32634

Virginia Tech
28.
Wadoo, Sabiha Amin.
Feedback Control and Nonlinear Controllability of Nonholonomic Systems.
Degree: MS, Electrical and Computer Engineering, 2003, Virginia Tech
URL: http://hdl.handle.net/10919/30963
► In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The…
(more)
▼ In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motion planning and design of the feedback control laws for an
autonomous underwater
vehicle: a nonholonomic system. The nonlinear controllability issues for the system are also studied. For the design of feedback controllers, the system is transformed into chained and power forms. The methods of transforming a nonholonomic system into these forms are discussed. The work presented in this thesis is a step towards the initial study concerning the applicability of kinematic-based control on underwater vehicles.
Advisors/Committee Members: Kachroo, Pushkin (committeechair), Abbott, A. Lynn (committee member), Stilwell, Daniel J. (committee member).
Subjects/Keywords: controllability; point stabilization; nonholonomic; trajectory tracking; autonomous vehicle; path following.
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Wadoo, S. A. (2003). Feedback Control and Nonlinear Controllability of Nonholonomic Systems. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/30963
Chicago Manual of Style (16th Edition):
Wadoo, Sabiha Amin. “Feedback Control and Nonlinear Controllability of Nonholonomic Systems.” 2003. Masters Thesis, Virginia Tech. Accessed April 12, 2021.
http://hdl.handle.net/10919/30963.
MLA Handbook (7th Edition):
Wadoo, Sabiha Amin. “Feedback Control and Nonlinear Controllability of Nonholonomic Systems.” 2003. Web. 12 Apr 2021.
Vancouver:
Wadoo SA. Feedback Control and Nonlinear Controllability of Nonholonomic Systems. [Internet] [Masters thesis]. Virginia Tech; 2003. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10919/30963.
Council of Science Editors:
Wadoo SA. Feedback Control and Nonlinear Controllability of Nonholonomic Systems. [Masters Thesis]. Virginia Tech; 2003. Available from: http://hdl.handle.net/10919/30963

Virginia Tech
29.
Xu, Bin.
Fast Path Planning in Uncertain Environments: Theory and Experiments.
Degree: PhD, Electrical and Computer Engineering, 2009, Virginia Tech
URL: http://hdl.handle.net/10919/29734
► This dissertation addresses path planning for an autonomous vehicle navigating in a two dimensional environment for which an a priori map is inaccurate and for…
(more)
▼ This dissertation addresses
path planning for an
autonomous vehicle navigating in a two dimensional environment for which an a priori map is inaccurate and for which the environment is sensed in real-time. For this class of application, planning decisions must be made in real-time. This work is motivated by the need for fast
autonomous vehicles that require planning algorithms to operate as quickly as possible.
In this dissertation, we first study the case in which there are only static obstacles in the environment. We propose a hybrid receding horizon control
path planning algorithm that is based on level-set methods. The hybrid method uses global or local level sets in the formulation of the receding horizon control problem. The decision to select a new level set is made based on certain matching conditions that guarantee the optimality of the
path. We rigorously prove sufficient conditions that guarantee that the
vehicle will converge to the goal as long as a
path to the goal exists. We then extend the proposed receding horizon formulation to the case when the environment possesses moving obstacles. Since all of the results in this dissertation are based on level-set methods, we rigorously investigate how level sets change in response to new information locally sensed by a
vehicle. The result is a dynamic fast marching algorithm that usually requires significantly less computation that would otherwise be the case. We demonstrate the proposed dynamic fast marching method in a successful field trial for which an
autonomous surface
vehicle navigated four kilometers through a riverine environment.
Advisors/Committee Members: Lindner, Douglas K. (committee member), Woolsey, Craig A. (committee member), Wyatt, Christopher L. (committee member), Stilwell, Daniel J. (committeecochair), Kurdila, Andrew J. (committeecochair).
Subjects/Keywords: Receding Horizon Control; Path Planning; Autonomous Vehicle Navigation; Level Set Method
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Xu, B. (2009). Fast Path Planning in Uncertain Environments: Theory and Experiments. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/29734
Chicago Manual of Style (16th Edition):
Xu, Bin. “Fast Path Planning in Uncertain Environments: Theory and Experiments.” 2009. Doctoral Dissertation, Virginia Tech. Accessed April 12, 2021.
http://hdl.handle.net/10919/29734.
MLA Handbook (7th Edition):
Xu, Bin. “Fast Path Planning in Uncertain Environments: Theory and Experiments.” 2009. Web. 12 Apr 2021.
Vancouver:
Xu B. Fast Path Planning in Uncertain Environments: Theory and Experiments. [Internet] [Doctoral dissertation]. Virginia Tech; 2009. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/10919/29734.
Council of Science Editors:
Xu B. Fast Path Planning in Uncertain Environments: Theory and Experiments. [Doctoral Dissertation]. Virginia Tech; 2009. Available from: http://hdl.handle.net/10919/29734

University of New South Wales
30.
Huynh, Van Thanh.
Model development and control for an agricultural tractor-trailer under the influence of slips.
Degree: Mechanical & Manufacturing Engineering, 2011, University of New South Wales
URL: http://handle.unsw.edu.au/1959.4/51213
;
https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9930/SOURCE02?view=true
► Developing a specific model for a tractor-trailer system subject to slips in real working environment is essential for understanding its system behavior. More importantly, the…
(more)
▼ Developing a specific model for a tractor-trailer system
subject to slips in real working environment is essential for understanding its system behavior. More importantly, the demand for
autonomous agricultural vehicles in the form of a tractor pulling a trailer is increasing because of the decrease in the labor supply involved in farming. For such
autonomous tractor-trailer, one of its critical elements is the controller. Thus, this thesis analyzes comprehensively the kinematics of a tractor towing a steerable implement under the influence of inevitable sliding effects caused by the ground onto the implements and wheels. Furthermore, various nonlinear design methods are also studied in order to find the most suitable ones of synthesizing controllers for the agricultural
vehicle to track a predetermined
path.The study firstly presents a kinematic model of the tractor-trailer in the presence of disturbances and uncertainties. An error model is then derived, based on the open-loop kinematic model and the desired reference
path. By applying basic theory of engineering mechanics for rigid body with slips, in the form of extra velocities and angles, exerting on rear axles and steered wheel as well as the trailer's implements, the open-loop kinematic model is primarily established. Secondly, with the derived error model, control laws for steering of both the tractor and trailer are constructed to make the car-like mobile robot towing an implement follow either a circle or a straight line. Such controllers are developed by utilizing not only recursive design methods for nonholonomic systems but also a nonlinear proportional integral (PI) scheme. The obtained control laws guarantee the closed-loop plant's stability and robustness against ambient working environment perturbations as well as uncertainties existing inside the system. In establishing of a kinematic model for the tractor-trailer, provided that the current state of the
vehicle and random disturbances of the environment are known with bounds, the next states of the system can be estimated, the
vehicle running
path is predicted, along with setting a basis for further controller design. This thesis also provides additional techniques to adjust responses of the car-like mobile robot towing an implement. Furthermore, constructed controllers can be implemented to make current agricultural vehicles operate autonomously.
Advisors/Committee Members: Katupitiya, Jayantha, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW, Eaton, Raymond, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.
Subjects/Keywords: Car-like mobile robot; Autonomous; Agricultural vehicle; Nonlinear control; Trailer; Path tracking; Kinematic model; Slips; Lateral; Longitudinal; Side slips; Backstepping; Nonlinear PI; Implement; Steerable trailer; Active implement; Tractor
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Huynh, V. T. (2011). Model development and control for an agricultural tractor-trailer under the influence of slips. (Masters Thesis). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/51213 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9930/SOURCE02?view=true
Chicago Manual of Style (16th Edition):
Huynh, Van Thanh. “Model development and control for an agricultural tractor-trailer under the influence of slips.” 2011. Masters Thesis, University of New South Wales. Accessed April 12, 2021.
http://handle.unsw.edu.au/1959.4/51213 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9930/SOURCE02?view=true.
MLA Handbook (7th Edition):
Huynh, Van Thanh. “Model development and control for an agricultural tractor-trailer under the influence of slips.” 2011. Web. 12 Apr 2021.
Vancouver:
Huynh VT. Model development and control for an agricultural tractor-trailer under the influence of slips. [Internet] [Masters thesis]. University of New South Wales; 2011. [cited 2021 Apr 12].
Available from: http://handle.unsw.edu.au/1959.4/51213 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9930/SOURCE02?view=true.
Council of Science Editors:
Huynh VT. Model development and control for an agricultural tractor-trailer under the influence of slips. [Masters Thesis]. University of New South Wales; 2011. Available from: http://handle.unsw.edu.au/1959.4/51213 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:9930/SOURCE02?view=true
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