Advanced search options

Advanced Search Options 🞨

Browse by author name (“Author name starts with…”).

Find ETDs with:

in
/  
in
/  
in
/  
in

Written in Published in Earliest date Latest date

Sorted by

Results per page:

Sorted by: relevance · author · university · dateNew search

You searched for subject:(Path replanning). Showing records 1 – 3 of 3 total matches.

Search Limiters

Last 2 Years | English Only

No search limiters apply to these results.

▼ Search Limiters


Brigham Young University

1. Chandler, Bryant Eldon. Robust Object Tracking: A Path-Planning Approach.

Degree: MS, 2017, Brigham Young University

When attempting to follow ground-based moving objects (hereafter referred to as ``waldos'') using an unmanned air vehicle (UAV), occlusion can become a significant problem for computer vision algorithms designed to track the object. When a waldo is occluded, the computer vision algorithm loses the track and the UAV's ability to predict movement degrades. We propose a path-planning and replanning method that moves a UAV to a location that maximizes the important waldos that can be seen while accounting for occlusion, and attempts to maximize the area it can see during travel. The proposed work moves beyond state-of-the-art algorithms designed to follow a single waldo while accounting for occlusion to enable tracking multiple prioritized waldos.

Subjects/Keywords: path-planning; rapid replanning; RRT*; FMT*; ORRT*; OFMT* target tracking; Computer Sciences

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Chandler, B. E. (2017). Robust Object Tracking: A Path-Planning Approach. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd

Chicago Manual of Style (16th Edition):

Chandler, Bryant Eldon. “Robust Object Tracking: A Path-Planning Approach.” 2017. Masters Thesis, Brigham Young University. Accessed January 17, 2020. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd.

MLA Handbook (7th Edition):

Chandler, Bryant Eldon. “Robust Object Tracking: A Path-Planning Approach.” 2017. Web. 17 Jan 2020.

Vancouver:

Chandler BE. Robust Object Tracking: A Path-Planning Approach. [Internet] [Masters thesis]. Brigham Young University; 2017. [cited 2020 Jan 17]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd.

Council of Science Editors:

Chandler BE. Robust Object Tracking: A Path-Planning Approach. [Masters Thesis]. Brigham Young University; 2017. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd

2. Vieira, Hiparco Lins. Redução do custo computacional do algoritmo RRT através de otimização por eliminação.

Degree: Mestrado, Sistemas Dinâmicos, 2014, University of São Paulo

A aplicação de técnicas baseadas em amostragem em algoritmos que envolvem o planejamento de trajetórias de robôs tem se tornado cada vez mais difundida. Deste grupo, um dos algoritmos mais utilizados é chamado Rapidly-exploring Random Tree (RRT), que se baseia na amostragem incremental para calcular de forma eficiente os planos de trajetória do robô evitando colisões com obstáculos. Vários esforços tem sido realizados a fim de reduzir o custo computacional do algoritmo RRT, visando aplicações que necessitem de respostas mais rápidas do algoritmo, como, por exemplo, em ambientes dinâmicos. Um dos dilemas relacionados ao RRT está na etapa de geração de primitivas de movimento. Se várias primitivas são geradas, permitindo o robô executar vários movimentos básicos diferentes, um grande custo computacional é gasto. Por outro lado, quando poucas primitivas são geradas e, consequentemente, poucos movimentos básicos são permitidos, o robô pode não ser capaz de encontrar uma solução para o problema, mesmo que esta exista. Motivados por este problema, um método de geração de primitivas de movimento foi proposto. Tal método é comparado com os métodos tradicional e aleatório de geração de primitivas, considerando não apenas o custo computacional de cada um, mas também a qualidade da solução obtida. O método proposto é aplicado ao algoritmo RRT, que depois é aplicado em um caso de estudo em um ambiente dinâmico. No estudo de caso, o algoritmo RRT otimizado é avaliado em termos de seus custos computacionais durante planejamentos e replanejamento de trajetória. As simulações são realizadas em dois simuladores: um desenvolvido em linguagem Python e outro em Matlab.

The application of sample-based techniques in path-planning algorithms has become year-by-year more widespread. In this group, one of the most widely used algorithms is the Rapidly-exploring Random Tree (RRT), which is based on an incremental sampling of configurations to efficiently compute the robot\'s path while avoiding obstacles. Many efforts have been made to reduce RRT computational costs, targeting, in particular, applications in which quick responses are required, e.g., in dynamic environments. One of the dilemmas posed by the RRT arises from its motion primitives generation. If many primitives are generated to enable the robot to perform a broad range of basic movements, a signicant computational cost is required. On the other hand, when only a few primitives are generated, thus, enabling a limited number of basic movements, the robot may be unable to find a solution to the problem, even if one exists. To address this quandary, an optimized method for primitive generation is proposed. This method is compared with the traditional and random primitive generation methods, considering not only computational cost, but also the quality of local and global solutions that may be attained. The optimized method is applied to the RRT algorithm, which is then used in a case study in dynamic environments. In the study, the modied RRT is evaluated in terms of the…

Advisors/Committee Members: Grassi Júnior, Valdir.

Subjects/Keywords: Ambientes dinâmicos; Computational cost; Custo computacional; Dynamic environments; Motion primitives; Optimization; Otimização; Path planning; Path replanning; Planejamento de trajetórias; Primitivas de movimento; Replanejamento de trajetórias; RRT; RRT

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Vieira, H. L. (2014). Redução do custo computacional do algoritmo RRT através de otimização por eliminação. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/18/18153/tde-05092014-163621/ ;

Chicago Manual of Style (16th Edition):

Vieira, Hiparco Lins. “Redução do custo computacional do algoritmo RRT através de otimização por eliminação.” 2014. Masters Thesis, University of São Paulo. Accessed January 17, 2020. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-05092014-163621/ ;.

MLA Handbook (7th Edition):

Vieira, Hiparco Lins. “Redução do custo computacional do algoritmo RRT através de otimização por eliminação.” 2014. Web. 17 Jan 2020.

Vancouver:

Vieira HL. Redução do custo computacional do algoritmo RRT através de otimização por eliminação. [Internet] [Masters thesis]. University of São Paulo; 2014. [cited 2020 Jan 17]. Available from: http://www.teses.usp.br/teses/disponiveis/18/18153/tde-05092014-163621/ ;.

Council of Science Editors:

Vieira HL. Redução do custo computacional do algoritmo RRT através de otimização por eliminação. [Masters Thesis]. University of São Paulo; 2014. Available from: http://www.teses.usp.br/teses/disponiveis/18/18153/tde-05092014-163621/ ;

3. EHSAN REHMAN. Bounded Uncertainty Roadmaps.

Degree: 2011, National University of Singapore

Subjects/Keywords: Robot Motion Planning; Probabilistic Roadmap; uncertain environment; probably approximately optimal path; replanning; planning under uncertainty

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

REHMAN, E. (2011). Bounded Uncertainty Roadmaps. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/33311

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):

REHMAN, EHSAN. “Bounded Uncertainty Roadmaps.” 2011. Thesis, National University of Singapore. Accessed January 17, 2020. http://scholarbank.nus.edu.sg/handle/10635/33311.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

REHMAN, EHSAN. “Bounded Uncertainty Roadmaps.” 2011. Web. 17 Jan 2020.

Vancouver:

REHMAN E. Bounded Uncertainty Roadmaps. [Internet] [Thesis]. National University of Singapore; 2011. [cited 2020 Jan 17]. Available from: http://scholarbank.nus.edu.sg/handle/10635/33311.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

REHMAN E. Bounded Uncertainty Roadmaps. [Thesis]. National University of Singapore; 2011. Available from: http://scholarbank.nus.edu.sg/handle/10635/33311

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

.