subject:(trajectory generation)

Delft University of Technology

1. Al Jawahiri, Amir (author). Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:aae5c4e6-1c74-42d6-8947-c80bface981a

► Trajectory generators are designed to create reference paths that are parametrized by time as well as by velocity or acceleration. In the literature, it has… (more)

▼ Trajectory generators are designed to create reference paths that are parametrized by time as well as by velocity or acceleration. In the literature, it has been noted that often path planners are the last step in the planning module of autonomous truck-trailer vehicles, which results in a collision-free track. A trajectory generator can improve this path by making it smoother, which improves passenger comfort and decreases stress on the engine. The available trajectory generators are in their majority based on large number of optimizations, which limits their real-time applicability. This research aims to create a computationally efficient parametric method for trajectory generation that leads to a continuous motion of the vehicle. Using cubic splines, a unique method of parametrization is applied such that a custom velocity profile is defined along the trajectory. Together with choosing appropriate boundary conditions for each path segment, a trajectory is generated that proves continuous reference tangent angle and yaw rate, while following a velocity profile that is continuous in acceleration. This leads to a continuous longitudinal and lateral motion of the truck-trailer vehicle. While continuity conditions are achieved, simulations results showed high reference yaw rate peaks, which could be difficult to track under non-ideal circumstances. An alternative generator was designed based on quintic splines, such that yaw rate peaks can be limited. However, this minimization leads to oscillations of the reference trajectory. A trade-off needs to be defined to balance between minimizing peak yaw rates and oscillations. Closed-loop simulations using a kinematic truck-trailer model show that tracking the generated trajectory lead to continuous steering wheel and velocity input signals. Furthermore, the trajectory was smoothly tracked without the use of an optimal controller. Eventually all research goals have been achieved. Further studies could analyse the performance of the proposed trajectory generator using a dynamic truck-trailer model such that effects of wheel slip and load transfer can be investigated. It is also of interest to analyse the trailer behaviour when tracking the trajectory. Advisors/Committee Members: Tejada Ruiz, Arturo (mentor), De Schutter, Bart (graduation committee), Mazo Espinosa, Manuel (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Trajectory; Generation; Truck-trailers; Splines

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

APA (6^th Edition):

Al Jawahiri, A. (. (2018). Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:aae5c4e6-1c74-42d6-8947-c80bface981a

Chicago Manual of Style (16^th Edition):

Al Jawahiri, Amir (author). “Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios.” 2018. Masters Thesis, Delft University of Technology. Accessed March 08, 2021. http://resolver.tudelft.nl/uuid:aae5c4e6-1c74-42d6-8947-c80bface981a.

MLA Handbook (7^th Edition):

Al Jawahiri, Amir (author). “Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios.” 2018. Web. 08 Mar 2021.

Vancouver:

Al Jawahiri A(. Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 08]. Available from: http://resolver.tudelft.nl/uuid:aae5c4e6-1c74-42d6-8947-c80bface981a.

Council of Science Editors:

Al Jawahiri A(. Spline-based Trajectory Generation for Autonomous Truck-Trailer Vehicles in Low Speed Highway Scenarios. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:aae5c4e6-1c74-42d6-8947-c80bface981a

2. Kahale, Elie. Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures.

Degree: Docteur es, Automatique, 2014, Evry-Val d'Essonne

URL: http://www.theses.fr/2014EVRY0016

►

Aujourd'hui, l'inspection des ouvrages d'art est réalisée de façon visuelle par des contrôleurs sur l'ensemble de la structure. Cette procédure est couteuse et peut être… (more)

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Aujourd'hui, l'inspection des ouvrages d'art est réalisée de façon visuelle par des contrôleurs sur l'ensemble de la structure. Cette procédure est couteuse et peut être particulièrement dangereuse pour les intervenants. Pour cela, le développement du système de vision embarquée sur des drones est privilégié ces jours-ci afin de faciliter l'accès aux zones dangereuses.Dans ce contexte, le travail de cette thèse porte sur l'obtention des méthodes originales permettant la planification, la génération des trajectoires de référence, et le suivi de ces trajectoires par une plate-forme aéroportée stationnaire autonome. Ces méthodes devront habiliter une automatisation du vol en présence de perturbations aérologiques ainsi que des obstacles. Dans ce cadre, nous nous sommes intéressés à deux types de véhicules aériens capable de vol stationnaire : le dirigeable et le quadri-rotors.Premièrement, la représentation mathématique du véhicule volant en présence du vent a été réalisée en se basant sur la deuxième loi de Newton. Deuxièmement, la problématique de génération de trajectoire en présence de vent a été étudiée : le problème de temps minimal est formulé, analysé analytiquement et résolu numériquement. Ensuite, une stratégie de planification de trajectoire basée sur les approches de recherche opérationnelle a été développée.Troisièmement, le problème de suivi de trajectoire a été abordé. Une loi de commande non-linéaire robuste basée sur l'analyse de Lyapunov a été proposée. En outre, un pilote automatique basée sur les fonctions de saturations pour un quadri-rotors a été développée.Les méthodes et algorithmes proposés dans cette thèse ont été validés par des simulations.

Today, the inspection of structures is carried out through visual assessments effected by qualified inspectors. This procedure is very expensive and can put the personal in dangerous situations. Consequently, the development of an unmanned aerial vehicle equipped with on-board vision systems is privileged nowadays in order to facilitate the access to unreachable zones.In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors.Firstly, the mathematical representation of an aerial vehicle in the presence of wind has been realized using the second law of newton.Secondly, the question of trajectory generation in the presence of wind has been studied: the problem of minimal time was formulated, analyzed analytically and solved numerically. Then, a strategy of trajectory planning based on operational research approaches has been developed.Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control law based on Lyapunov analysis has been proposed. In addition, an autopilot based on…

Advisors/Committee Members: Bestaoui, Yasmina (thesis director), Castillo, Pedro (thesis director).

Subjects/Keywords: Génération de trajectoire; Suivi de trajectoire; Trajectory generation; Trajectory tracking

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APA (6^th Edition):

Kahale, E. (2014). Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures. (Doctoral Dissertation). Evry-Val d'Essonne. Retrieved from http://www.theses.fr/2014EVRY0016

Chicago Manual of Style (16^th Edition):

Kahale, Elie. “Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures.” 2014. Doctoral Dissertation, Evry-Val d'Essonne. Accessed March 08, 2021. http://www.theses.fr/2014EVRY0016.

MLA Handbook (7^th Edition):

Kahale, Elie. “Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures.” 2014. Web. 08 Mar 2021.

Vancouver:

Kahale E. Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures. [Internet] [Doctoral dissertation]. Evry-Val d'Essonne; 2014. [cited 2021 Mar 08]. Available from: http://www.theses.fr/2014EVRY0016.

Council of Science Editors:

Kahale E. Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art : Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures. [Doctoral Dissertation]. Evry-Val d'Essonne; 2014. Available from: http://www.theses.fr/2014EVRY0016

Delft University of Technology

3. Zhou, Bingyu (author). Probabilistic Motion Planning in Uncertain and Dynamic Environments.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:f491f7d8-a2f5-4f89-b4b7-86ac6b64546b

►

Autonomous driving is one of the popular and advanced research fields aiming to reduce the mortality rate and improve the welfare and efficiency of commuters'… (more)

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Autonomous driving is one of the popular and advanced research fields aiming to reduce the mortality rate and improve the welfare and efficiency of commuters' lives. As one of the important research branches of self-driving cars, this thesis focuses on the motion planning problems in dynamic and uncertain environments. The challenge of motion planning in uncertain and dynamic environments is that the ego-vehicle or the robot needs to intelligently reason about the interactions between itself and the other traffic participants. In order to successfully make decisions to guarantee the safety and users' comfort, it requires the motion planner to account for the future motions and the uncertainty of motion intentions associated with the obstacles to avoid the ego-vehicle ending up with inevitable collision states. This thesis presents three approaches to solve the challenge from manifold perspectives. The first approach, multipolicy MPC, introduces the uncertainty of motion intentions into the traditional optimization framework by modeling the multiple hypotheses of future trajectories as mixture Gaussian distributions. The second approach, centralized MPC, computes the motion plans for all vehicles including the obstacle vehicles by assuming the obstacles are controllable and broadcast their motion intentions. The last approach called joint behavior estimation and planning is a novel algorithm, which takes the interactions into account. It leverages the strengths of online POMDP to model the interactions through anticipating the future trajectories of obstacles under different motion intentions. The predicted trajectories are then utilized in the multipolicy MPC motion planner to compute the optimal actions for the ego-vehicle. A parallelized structure of joint behavior estimation and planning is also presented to scale up in cluttered environments. Simulation results demonstrate the benefits of the proposed approaches, particularly the joint behavior estimation and planning, in uncertain and interactive environments.

Systems and Control

Advisors/Committee Members: Alonso Mora, Javier (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Motion planning; Trajectory generation; Interaction; MPC; POMDP

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

APA (6^th Edition):

Zhou, B. (. (2017). Probabilistic Motion Planning in Uncertain and Dynamic Environments. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f491f7d8-a2f5-4f89-b4b7-86ac6b64546b

Chicago Manual of Style (16^th Edition):

Zhou, Bingyu (author). “Probabilistic Motion Planning in Uncertain and Dynamic Environments.” 2017. Masters Thesis, Delft University of Technology. Accessed March 08, 2021. http://resolver.tudelft.nl/uuid:f491f7d8-a2f5-4f89-b4b7-86ac6b64546b.

MLA Handbook (7^th Edition):

Zhou, Bingyu (author). “Probabilistic Motion Planning in Uncertain and Dynamic Environments.” 2017. Web. 08 Mar 2021.

Vancouver:

Zhou B(. Probabilistic Motion Planning in Uncertain and Dynamic Environments. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 08]. Available from: http://resolver.tudelft.nl/uuid:f491f7d8-a2f5-4f89-b4b7-86ac6b64546b.

Council of Science Editors:

Zhou B(. Probabilistic Motion Planning in Uncertain and Dynamic Environments. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:f491f7d8-a2f5-4f89-b4b7-86ac6b64546b

University of Pennsylvania

4. Mellinger, Daniel Warren. Trajectory Generation and Control for Quadrotors.

Degree: 2012, University of Pennsylvania

URL: https://repository.upenn.edu/edissertations/547

► This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors.… (more)

Subjects/Keywords: control; quadrotor; trajectory generation; Mechanical Engineering; Robotics

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

APA (6^th Edition):

Mellinger, D. W. (2012). Trajectory Generation and Control for Quadrotors. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/547

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

Chicago Manual of Style (16^th Edition):

Mellinger, Daniel Warren. “Trajectory Generation and Control for Quadrotors.” 2012. Thesis, University of Pennsylvania. Accessed March 08, 2021. https://repository.upenn.edu/edissertations/547.

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

MLA Handbook (7^th Edition):

Mellinger, Daniel Warren. “Trajectory Generation and Control for Quadrotors.” 2012. Web. 08 Mar 2021.

Vancouver:

Mellinger DW. Trajectory Generation and Control for Quadrotors. [Internet] [Thesis]. University of Pennsylvania; 2012. [cited 2021 Mar 08]. Available from: https://repository.upenn.edu/edissertations/547.

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

Council of Science Editors:

Mellinger DW. Trajectory Generation and Control for Quadrotors. [Thesis]. University of Pennsylvania; 2012. Available from: https://repository.upenn.edu/edissertations/547

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

5. Wrock, Michael. Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces.

Degree: 2019, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/1080

► An approach to improving worker safety in underground uranium drift mining through automating the radiation scanning and shotcrete application process is presented. Utilizing the Robot… (more)

▼ An approach to improving worker safety in underground uranium drift mining through automating the radiation scanning and shotcrete application process is presented. Utilizing the Robot Operating System (ROS) framework to achieve autonomous operation, workers can be removed from the most hazardous areas of the mine. Worker knowledge and experience is utilized when instructing the system from a remote location. The current approach to radiation scanning exposes the workers to radiation hazards and employs the use of cumbersome handheld radiation sensors that are difficult to position accurately. Sprayable concrete liner known as shotcrete is applied to all surfaces of the drift to protect workers from hazards, such as rock fall and radon gas. Proper application of shotcrete and visual estimation of its thickness require highly skilled operators. This research presents a trajectory generation algorithm that is capable of autonomously applying shotcrete to unknown surface geometries. The trajectory generation algorithm can also be used to perform radiation scanning with the use of a previously developed tool changer. A novel localization algorithm developed for use in underground mining uses the Point Cloud Library (PCL) to accurately register point cloud scans of the drift from before and after shotcrete application and produces thickness estimates of the entire shotcrete area. Estimating shotcrete thickness allows for verification to ensure worker safety and eliminates the human error present in current thickness estimation methods. The hardware and software systems are highly modular in order to allow components or algorithms to easily be replaced or implemented on other systems. The localization system presented uses fiducial markers that allow the robot to generate 3D point cloud representations of the entire mine. While scanning the drift face, a shielded radiation sensor can be used for more directional measurements, and the locations at which the measurements are taken relative to the drift face can be recorded with great accuracy. Verifying shotcrete thickness, mapping mine drifts, and protecting workers from hazardous environments are three factors which contribute to improved safety and monitoring of underground uranium mines. Advisors/Committee Members: Nokleby, Scott.

Subjects/Keywords: Mobile-manipulator; Trajectory generation; Localization; Shotcrete; LiDAR

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

APA (6^th Edition):

Wrock, M. (2019). Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/1080

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

Chicago Manual of Style (16^th Edition):

Wrock, Michael. “Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces.” 2019. Thesis, University of Ontario Institute of Technology. Accessed March 08, 2021. http://hdl.handle.net/10155/1080.

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

MLA Handbook (7^th Edition):

Wrock, Michael. “Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces.” 2019. Web. 08 Mar 2021.

Vancouver:

Wrock M. Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces. [Internet] [Thesis]. University of Ontario Institute of Technology; 2019. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/10155/1080.

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

Council of Science Editors:

Wrock M. Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces. [Thesis]. University of Ontario Institute of Technology; 2019. Available from: http://hdl.handle.net/10155/1080

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

University of Louisville

6. Cui, Yinan. MARIT : the design, implementation and trajectory generation with NTG for small UAVs.

Degree: PhD, 2013, University of Louisville

URL: 10.18297/etd/296 ; https://ir.library.louisville.edu/etd/296

► This dissertation is about building a Multiple Air Robotics Indoor Testbed (MARIT) for the purpose of developing and validating new methodologies for collaboration and cooperation… (more)

Subjects/Keywords: UAV; Testbed; Quadrotor; Dynamic modeling; Optimal control; Trajectory generation; Trajectory tracking iv

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

APA (6^th Edition):

Cui, Y. (2013). MARIT : the design, implementation and trajectory generation with NTG for small UAVs. (Doctoral Dissertation). University of Louisville. Retrieved from 10.18297/etd/296 ; https://ir.library.louisville.edu/etd/296

Chicago Manual of Style (16^th Edition):

Cui, Yinan. “MARIT : the design, implementation and trajectory generation with NTG for small UAVs.” 2013. Doctoral Dissertation, University of Louisville. Accessed March 08, 2021. 10.18297/etd/296 ; https://ir.library.louisville.edu/etd/296.

MLA Handbook (7^th Edition):

Cui, Yinan. “MARIT : the design, implementation and trajectory generation with NTG for small UAVs.” 2013. Web. 08 Mar 2021.

Vancouver:

Cui Y. MARIT : the design, implementation and trajectory generation with NTG for small UAVs. [Internet] [Doctoral dissertation]. University of Louisville; 2013. [cited 2021 Mar 08]. Available from: 10.18297/etd/296 ; https://ir.library.louisville.edu/etd/296.

Council of Science Editors:

Cui Y. MARIT : the design, implementation and trajectory generation with NTG for small UAVs. [Doctoral Dissertation]. University of Louisville; 2013. Available from: 10.18297/etd/296 ; https://ir.library.louisville.edu/etd/296

Cranfield University

7. Pan, Jing. Development of ground station display and flight management system for low-cost vehicle.

Degree: MSc by Research, 2011, Cranfield University

URL: http://dspace.lib.cranfield.ac.uk/handle/1826/6288

► Nowadays, with the development of electronic and communication technologies, more and more low-cost vehicles such as small, light-weight aircraft are widely applied in all kinds… (more)

Subjects/Keywords: COTS; GUI; HMI; Object-Oriented Design; Rapid Prototype; VAPS; MATLAB; simulation; waypoint; trajectory generation; trajectory generation

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

APA (6^th Edition):

Pan, J. (2011). Development of ground station display and flight management system for low-cost vehicle. (Masters Thesis). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/6288

Chicago Manual of Style (16^th Edition):

Pan, Jing. “Development of ground station display and flight management system for low-cost vehicle.” 2011. Masters Thesis, Cranfield University. Accessed March 08, 2021. http://dspace.lib.cranfield.ac.uk/handle/1826/6288.

MLA Handbook (7^th Edition):

Pan, Jing. “Development of ground station display and flight management system for low-cost vehicle.” 2011. Web. 08 Mar 2021.

Vancouver:

Pan J. Development of ground station display and flight management system for low-cost vehicle. [Internet] [Masters thesis]. Cranfield University; 2011. [cited 2021 Mar 08]. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/6288.

Council of Science Editors:

Pan J. Development of ground station display and flight management system for low-cost vehicle. [Masters Thesis]. Cranfield University; 2011. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/6288

University of South Florida

8. Huang, Yongqiang. Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations.

Degree: 2019, University of South Florida

URL: https://scholarcommons.usf.edu/etd/8373

► Robots excel in manufacturing facilities because the tasks are repetitive and do not change. However, when the tasks change, which happens in almost all tasks… (more)

Subjects/Keywords: learning from demonstration; trajectory generation; velocity generation; Artificial Intelligence and Robotics; Computer Sciences; Robotics

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

APA (6^th Edition):

Huang, Y. (2019). Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations. (Thesis). University of South Florida. Retrieved from https://scholarcommons.usf.edu/etd/8373

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

Chicago Manual of Style (16^th Edition):

Huang, Yongqiang. “Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations.” 2019. Thesis, University of South Florida. Accessed March 08, 2021. https://scholarcommons.usf.edu/etd/8373.

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

MLA Handbook (7^th Edition):

Huang, Yongqiang. “Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations.” 2019. Web. 08 Mar 2021.

Vancouver:

Huang Y. Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations. [Internet] [Thesis]. University of South Florida; 2019. [cited 2021 Mar 08]. Available from: https://scholarcommons.usf.edu/etd/8373.

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

Council of Science Editors:

Huang Y. Robotic Motion Generation by Using Spatial-Temporal Patterns from Human Demonstrations. [Thesis]. University of South Florida; 2019. Available from: https://scholarcommons.usf.edu/etd/8373

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

University of California – Berkeley

9. Tsai, Chi-Shen. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.

Degree: Mechanical Engineering, 2014, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/3x02b7x5

► Interest in robot manipulators interacting with dynamic environments has been continuously growing because of the increasing demand for industrial robot collaboration. Human-robot collaboration and robot-robot… (more)

▼ Interest in robot manipulators interacting with dynamic environments has been continuously growing because of the increasing demand for industrial robot collaboration. Human-robot collaboration and robot-robot collaboration are the two scenarios of robot collaboration that have generally been considered. The difficulties of such applications may be described from two perspectives: a good perception of environment and a proper algorithm to react to the dynamic environment for the robot manipulators. Online trajectory generation is one of the approaches for robot reaction. In the generation of the trajectory, the transformation between joint space and task space is necessary since the sensor measurement of the environment is in task space and the trajectory of the robot manipulator is in joint space. The transformation needs to be done online in a dynamic environment and hence easily results in an exponential increase of the computational load.This dissertation proposes a safety index and the associated robot safety system in order to assess and ensure the safety of the agent in the collaboration scenarios. The agent could be a human worker in human-robot collaboration or another robot in robot-robot collaboration. In the robot safety system, the online trajectory generation algorithm is formulated in the optimization-based trajectory planning framework. The safety index is evaluated using the ellipsoid coordinates attached to the robot links that represents the distance between the robot manipulator and the agent. To account for the inertial effect, the momentum of therobot links are projected onto the coordinates to generate additional measures of safety. The safety index is used as a constraint in the formulation of the optimization problem so that a collision-free trajectory within a finite time horizon is generated online iteratively for the robot to move toward the desired position. To reduce the computational load for real-time implementation, the formulated optimization problem is further approximated by a quadratic problem. Moreover, a heuristic strategy is proposed to select the active constraints for the next iteration so as to further reduce the computational load. The safety index andthe proposed online trajectory generation algorithm are simulated and validated in both a two-link planar robot and a seven-DOF robot in human-robot collaboration and robot-robot collaboration. Simulation results show that the proposed algorithm and robot safety system are capable of generating collision-free and smooth trajectories online.The proposed algorithm has been extended to consider measurement noise in the agent information. Two possible approaches have been proposed for handling zero-mean Gaussian noise in the agent information.

Subjects/Keywords: Mechanical engineering; obstacle avoidance; online trajectory generation; Optimization

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

APA (6^th Edition):

Tsai, C. (2014). Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/3x02b7x5

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

Chicago Manual of Style (16^th Edition):

Tsai, Chi-Shen. “Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.” 2014. Thesis, University of California – Berkeley. Accessed March 08, 2021. http://www.escholarship.org/uc/item/3x02b7x5.

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

MLA Handbook (7^th Edition):

Tsai, Chi-Shen. “Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.” 2014. Web. 08 Mar 2021.

Vancouver:

Tsai C. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. [Internet] [Thesis]. University of California – Berkeley; 2014. [cited 2021 Mar 08]. Available from: http://www.escholarship.org/uc/item/3x02b7x5.

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

Council of Science Editors:

Tsai C. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. [Thesis]. University of California – Berkeley; 2014. Available from: http://www.escholarship.org/uc/item/3x02b7x5

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

Texas A&M University

10. Maithripala, Diyogu Hennadige Asanka. Coordinated Multi-Agent Motion Planning Under Realistic Constraints.

Degree: PhD, Mechanical Engineering, 2009, Texas A&M University

URL: http://hdl.handle.net/1969.1/ETD-TAMU-3007

► Considered is a class of cooperative control problems that has a special affine characterization. Included in this class of multi-agent problems are the so called… (more)

▼ Considered is a class of cooperative control problems that has a special affine characterization. Included in this class of multi-agent problems are the so called radar deception problem, formation keeping and formation reconfiguration. An intrinsic geometric formulation of the associated constraints unifies this class of problems and it is the first time such a generalization has been presented. Based on this geometric formulation, a real-time motion planning algorithm is proposed to generate dynamically feasible reference trajectories for the class. The proposed approach explicitly considers actuator and operating constraints of the individual agents and constrained dynamics are derived intrinsically for the multi-agent system which makes these constraints transparent. Deriving the constrained dynamics eliminates the need for nonlinear programming to account for the system constraints, making the approach amenable to real-time control. Explicit consideration of actuator and operating limitations and nonholonomic constraints in the design of the reference trajectories addresses the important issue of dynamic feasibility. The motion planning algorithm developed here is verified through simulations for the radar deception, rigid formation keeping and formation reconfiguration problems. A key objective of this study is to advocate a change in paradigm in the approach to formation control by addressing the key issues of dynamic feasibility and computational complexity. The other important contributions of this study are: Unifying formulation of constrained dynamics for a class of problems in formation control through the intrinsic geometry of their nonholonomic and holonomic constraints; Deriving these constrained dynamics in any choice of frame that can even be coordinate free; Explicit consideration of actuator and operating limits in formation control to design dynamically feasible reference trajectories and Developing a real-time, distributed, scalable motion planning algorithm applicable to a class of autonomous multi-agent systems in formation control. Advisors/Committee Members: Suhada, Jayasuriya (advisor), Alexander, Parlos (committee member), Aniruddha, Datta (committee member), Tamas, Kalmar-Nagy (committee member).

Subjects/Keywords: trajectory generation; real-time guidance

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

APA (6^th Edition):

Maithripala, D. H. A. (2009). Coordinated Multi-Agent Motion Planning Under Realistic Constraints. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/ETD-TAMU-3007

Chicago Manual of Style (16^th Edition):

Maithripala, Diyogu Hennadige Asanka. “Coordinated Multi-Agent Motion Planning Under Realistic Constraints.” 2009. Doctoral Dissertation, Texas A&M University. Accessed March 08, 2021. http://hdl.handle.net/1969.1/ETD-TAMU-3007.

MLA Handbook (7^th Edition):

Maithripala, Diyogu Hennadige Asanka. “Coordinated Multi-Agent Motion Planning Under Realistic Constraints.” 2009. Web. 08 Mar 2021.

Vancouver:

Maithripala DHA. Coordinated Multi-Agent Motion Planning Under Realistic Constraints. [Internet] [Doctoral dissertation]. Texas A&M University; 2009. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-3007.

Council of Science Editors:

Maithripala DHA. Coordinated Multi-Agent Motion Planning Under Realistic Constraints. [Doctoral Dissertation]. Texas A&M University; 2009. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-3007

Vilnius Gediminas Technical University

11. Drukteinienė, Asta. Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution.

Degree: PhD, Informatics Engineering, 2011, Vilnius Gediminas Technical University

URL: http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20111207_132209-56061 ;

►

Piezoelectric actuators are resonance systems operating principles based on high-frequency oscillations excitation, are used in structures of robots. Observed piezorobots have no additional motion generating… (more)

Subjects/Keywords: Trajectory generation; Piezorobot; Algorithm; Trajektorijos formavimas; Pjezorobotas; Algoritmas

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

APA (6^th Edition):

Drukteinienė, A. (2011). Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution. (Doctoral Dissertation). Vilnius Gediminas Technical University. Retrieved from http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20111207_132209-56061 ;

Chicago Manual of Style (16^th Edition):

Drukteinienė, Asta. “Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution.” 2011. Doctoral Dissertation, Vilnius Gediminas Technical University. Accessed March 08, 2021. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20111207_132209-56061 ;.

MLA Handbook (7^th Edition):

Drukteinienė, Asta. “Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution.” 2011. Web. 08 Mar 2021.

Vancouver:

Drukteinienė A. Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution. [Internet] [Doctoral dissertation]. Vilnius Gediminas Technical University; 2011. [cited 2021 Mar 08]. Available from: http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20111207_132209-56061 ;.

Council of Science Editors:

Drukteinienė A. Trajectories Formation for Mobile Multidimensional Piezorobots with Nanometer Resolution. [Doctoral Dissertation]. Vilnius Gediminas Technical University; 2011. Available from: http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20111207_132209-56061 ;

Delft University of Technology

12. Brouwer, Jochem (author). Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:52340af2-ce82-4454-803a-6cddfe69ca63

►

The autonomous transit market is on the rise. 2getthere is one of the lead suppliers of automated people moving systems, located in the Netherlands. Their… (more)

Subjects/Keywords: four wheel steered; autonomous; ACADO toolkit; mpc; trajectory generation

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APA (6^th Edition):

Brouwer, J. (. (2018). Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:52340af2-ce82-4454-803a-6cddfe69ca63

Chicago Manual of Style (16^th Edition):

Brouwer, Jochem (author). “Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses.” 2018. Masters Thesis, Delft University of Technology. Accessed March 08, 2021. http://resolver.tudelft.nl/uuid:52340af2-ce82-4454-803a-6cddfe69ca63.

MLA Handbook (7^th Edition):

Brouwer, Jochem (author). “Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses.” 2018. Web. 08 Mar 2021.

Vancouver:

Brouwer J(. Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 08]. Available from: http://resolver.tudelft.nl/uuid:52340af2-ce82-4454-803a-6cddfe69ca63.

Council of Science Editors:

Brouwer J(. Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:52340af2-ce82-4454-803a-6cddfe69ca63

University of Illinois – Urbana-Champaign

13. Barsi Haberfeld, Gabriel. Design and control of a compact aerial manipulation system with a Delta-type parallel robot.

Degree: MS, Mechanical Engineering, 2017, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/99349

► This thesis presents the design, modeling, and control of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control… (more)

Subjects/Keywords: Robotics; Dynamics; Quadrotor; Robust adaptive control; Optimal trajectory generation

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APA (6^th Edition):

Barsi Haberfeld, G. (2017). Design and control of a compact aerial manipulation system with a Delta-type parallel robot. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/99349

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

Chicago Manual of Style (16^th Edition):

Barsi Haberfeld, Gabriel. “Design and control of a compact aerial manipulation system with a Delta-type parallel robot.” 2017. Thesis, University of Illinois – Urbana-Champaign. Accessed March 08, 2021. http://hdl.handle.net/2142/99349.

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

MLA Handbook (7^th Edition):

Barsi Haberfeld, Gabriel. “Design and control of a compact aerial manipulation system with a Delta-type parallel robot.” 2017. Web. 08 Mar 2021.

Vancouver:

Barsi Haberfeld G. Design and control of a compact aerial manipulation system with a Delta-type parallel robot. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2017. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/2142/99349.

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

Council of Science Editors:

Barsi Haberfeld G. Design and control of a compact aerial manipulation system with a Delta-type parallel robot. [Thesis]. University of Illinois – Urbana-Champaign; 2017. Available from: http://hdl.handle.net/2142/99349

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

University of Waterloo

14. Alzaydi, Ammar. Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling.

Degree: 2011, University of Waterloo

URL: http://hdl.handle.net/10012/6018

► On-the-fly laser drilling provides a highly productive method for producing hole clusters (pre-defined groups of holes to be laser drilled) on freeform surfaced parts, such… (more)

▼ On-the-fly laser drilling provides a highly productive method for producing hole clusters (pre-defined groups of holes to be laser drilled) on freeform surfaced parts, such as gas turbine combustion chambers. Although the process is capable of achieving high throughputs, current machine tool controllers are not equipped with appropriate trajectory functions that can take full advantage of the achievable laser drilling speeds. While the problem of contour following has received previous attention in time-optimal trajectory generation literature, on-the-fly laser drilling presents different technological requirements, needing a different kind of trajectory optimization solution, which has not been studied prior to this thesis. The duration between consecutive hole locations, which corresponds to the laser pulsing period, has to be kept constant, ideally throughout the part program. However, the toolpath between the holes is not fixed and can be optimized to enable the shortest possible segment duration. To preserve the dynamic beam positioning accuracy and avoid inducing excessive vibrations on the laser optics, the axis velocity, acceleration, and jerk profiles need to be limited. Furthermore, to ensure that hole elongation does not violate the given part tolerances, the orthogonal component of part velocity relative to the laser beam needs to be capped. All of these requirements have been fulfilled in the trajectory optimization algorithm developed in this thesis. The hole locations are provided as pre-programmed sequences by the Computer Aided Design/Manufacturing software (CAD/CAM). A time-optimized trajectory for each sequence is planned through a series of time-scaling and unconstrained optimization operations, which guarantees a feasible solution. The initial guess for this algorithm is obtained by minimizing the integral square of the fourth time derivative (i.e. ‘snap’). The optimized trajectories for each cluster are then joined together or looped onto themselves (for repeated laser shots) using a time-optimized looping/stitching (optimized/smooth toolpath to repeat/loop a cluster or connect/stitch between consecutive clusters) algorithm. This algorithm also minimizes the integral square of jerk in the faster axes. The effectiveness of the overall solution has been demonstrated in simulations and preliminary experimental results for on-the-fly laser drilling of a hole pattern for a gas turbine combustion chamber panel. It is shown that the developed algorithm improves the cycle time for a single pass by at least 6% (from kinematic analysis of the motion duration), and more importantly reduces the integral square of jerk by 56%, which would enable the process speed to be pushed up further.

Subjects/Keywords: Spline; Optimization; Laser Drilling; Trajectory Generation; On-the-Fly; 5-Axis

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APA (6^th Edition):

Alzaydi, A. (2011). Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/6018

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

Chicago Manual of Style (16^th Edition):

Alzaydi, Ammar. “Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling.” 2011. Thesis, University of Waterloo. Accessed March 08, 2021. http://hdl.handle.net/10012/6018.

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

MLA Handbook (7^th Edition):

Alzaydi, Ammar. “Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling.” 2011. Web. 08 Mar 2021.

Vancouver:

Alzaydi A. Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling. [Internet] [Thesis]. University of Waterloo; 2011. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/10012/6018.

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

Council of Science Editors:

Alzaydi A. Time-Optimal Trajectory Generation for 5-Axis On-the-Fly Laser Drilling. [Thesis]. University of Waterloo; 2011. Available from: http://hdl.handle.net/10012/6018

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

15. Claussmann, Laurene. Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute.

Degree: Docteur es, Automatique, 2019, Université Paris-Saclay (ComUE)

URL: http://www.theses.fr/2019SACLE014

►

Ce travail de thèse s'inscrit dans le développement d'un véhicule autonome en milieu autoroutier. Plus précisément, il s'agit de proposer une architecture unifiée de génération… (more)

▼

Ce travail de thèse s'inscrit dans le développement d'un véhicule autonome en milieu autoroutier. Plus précisément, il s'agit de proposer une architecture unifiée de génération de trajectoires avec une prise de décision prenant en compte les limitations de l'environnement et des informations disponibles actuellement sur un véhicule automatisé.La méthode propose d'une part de générer des trajectoires sous forme de sigmoı̈de dans une représentation spatiotemporelle continue de l'espace de navigation, préalablement réduit par la modélisation d'intervalles sans collision en conditionnominale de conduite. Les paramètres de la sigmoı̈de sont ensuite optimisés par une stratégie de recuit simulé utilisant l'algorithme de prise de décision comme fonction d'évaluation de la trajectoire générée. De cette manière, les problèmes de discrétisation et de découplage position/vitesse sont évités. D'autre part, l'agrégation des théories de logique floue etdes croyances permet une prise de décision sur des critères hétérogènes et des données incertaines. Le formalisme présenté offre la possibilité d'adapter le comportement du véhicule aux passagers, notamment selon leur perception du risque et leur souhait d'une conduite souple ou sportive.L'approche développée a finalement été évaluée et validée en environnement de simulation puis sur un véhicule de test. La brique de planification a alors été intégrée à l'architecture existante du véhicule, en aval des briques de localisation et de perception des obstacles et en amont de la brique de contrôle.

This thesis work is part of the development of a self-driving car in highway environments. More precisely, it aims to propose a unified architecture of trajectory planner and decision-maker taking into account the limitations of the environment and the available data within the current development of sensors technologies (distance limitations, uncertainties).On the one hand, the method generates sigmoid trajectories in a continuous spatiotemporal representation of the evolution space, which is reduced beforehand by modeling collision-free intervals in nominal conditions of driving. The sigmoid parameters are subsequently optimized with a simulated annealing approach that uses the decision-maker algorithm as the evaluation function for the generated trajectory. It thus makes it possible to elude both the discretization and position/speed decoupling problems. On the other hand, the aggregation of fuzzy logic and belief theory allows decision making on heterogeneous criteria and uncertain data. The proposed framework also handles personalization of the vehicle's behavior, depending on the passengers' risk perception and an aggressive or conservative driving style.The presented approach was finally evaluated and validated in a simulation environment, and then in a test vehicle. The planning block was integrated into the existing vehicle's architecture, interfaced with the localization, obstacles' perception and control blocks.

Advisors/Committee Members: Glaser, Sébastien (thesis director), Revilloud, Marc (thesis director), Orfila, Olivier (thesis director), Gruyer, Dominique (thesis director).

Subjects/Keywords: Planification de mouvement; Génération de trajectoires; Motion planning; Trajectory generation

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

APA (6^th Edition):

Claussmann, L. (2019). Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute. (Doctoral Dissertation). Université Paris-Saclay (ComUE). Retrieved from http://www.theses.fr/2019SACLE014

Chicago Manual of Style (16^th Edition):

Claussmann, Laurene. “Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute.” 2019. Doctoral Dissertation, Université Paris-Saclay (ComUE). Accessed March 08, 2021. http://www.theses.fr/2019SACLE014.

MLA Handbook (7^th Edition):

Claussmann, Laurene. “Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute.” 2019. Web. 08 Mar 2021.

Vancouver:

Claussmann L. Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute. [Internet] [Doctoral dissertation]. Université Paris-Saclay (ComUE); 2019. [cited 2021 Mar 08]. Available from: http://www.theses.fr/2019SACLE014.

Council of Science Editors:

Claussmann L. Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator : Architecture unifiée de prise de décision et génération de trajectoires pour un véhicule autonome sur autoroute. [Doctoral Dissertation]. Université Paris-Saclay (ComUE); 2019. Available from: http://www.theses.fr/2019SACLE014

University of Louisville

16. Zhang, Weizhong. Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot.

Degree: PhD, 2009, University of Louisville

URL: 10.18297/etd/1633 ; https://ir.library.louisville.edu/etd/1633

► Optimal trajectory generation is an essential part for robotic explorers to execute the total exploration of deep oceans or outer space planets while curiosity of… (more)

▼ Optimal trajectory generation is an essential part for robotic explorers to execute the total exploration of deep oceans or outer space planets while curiosity of human and technology advancements of society both require robots to search for unknown territories efficiently and safely. As one of state-of-the-art optimal trajectory generation methodologies, Nonlinear Trajectory Generation (NTG) combines with B-spline, nonlinear programming, differential flatness technique to generate optimal trajectories for modelled mechanical systems. While Discrete Mechanics and Optimal Control (DMOC) is a newly proposed optimal control method for mechanical systems, it is based on direct discretization of Lagrange-d'Alembert principle. In this dissertation, NTG is utilized to generate trajectories for an underwater glider with a 3D B-spline ocean current model. The optimal trajectories are corresponding well with the Lagrangian Coherent Structures (LCS). Then NTG is utilized to generate 3D opportunistic trajectories for a JPL (Jet Propulsion Laboratory) Aerobot by taking advantage of wind velocity. Since both DMOC and NTG are methods which can generate optimal trajectories for mechanical systems, their differences in theory and application are investigated. In a simple ocean current example and a more complex ocean current model, DMOC with discrete Euler-Lagrange constraints generates local optimal solutions with different initial guesses while NTG is also generating similar solutions with more computation time and comparable energy consumption. DMOC is much easier to implement than NTG because in order to generate good solutions in NTG, its variables need to be correctly defined as B-spline variables with rightly-chosen orders. Finally, the MARIT (Multiple Air Robotics Indoor Testbed) is established with a Vicon 8i motion capture system. Six Mcam 2 cameras connected with a datastation are able to track real-time coordinates of a draganflyer helicopter. This motion capture system establishes a good foundation for future NTG and DMOC algorithms verifications. Advisors/Committee Members: Inanc, Tamer.

Subjects/Keywords: Trajectory generation; Underwater glider; Aerobots

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APA (6^th Edition):

Zhang, W. (2009). Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot. (Doctoral Dissertation). University of Louisville. Retrieved from 10.18297/etd/1633 ; https://ir.library.louisville.edu/etd/1633

Chicago Manual of Style (16^th Edition):

Zhang, Weizhong. “Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot.” 2009. Doctoral Dissertation, University of Louisville. Accessed March 08, 2021. 10.18297/etd/1633 ; https://ir.library.louisville.edu/etd/1633.

MLA Handbook (7^th Edition):

Zhang, Weizhong. “Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot.” 2009. Web. 08 Mar 2021.

Vancouver:

Zhang W. Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot. [Internet] [Doctoral dissertation]. University of Louisville; 2009. [cited 2021 Mar 08]. Available from: 10.18297/etd/1633 ; https://ir.library.louisville.edu/etd/1633.

Council of Science Editors:

Zhang W. Optimal trajectory generation with DMOC versus NTG : application to an underwater glider and a JPL aerobot. [Doctoral Dissertation]. University of Louisville; 2009. Available from: 10.18297/etd/1633 ; https://ir.library.louisville.edu/etd/1633

Virginia Tech

17. Grymin, David J. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles .

Degree: PhD, Aerospace Engineering, 2013, Virginia Tech

URL: http://hdl.handle.net/10919/24520

► This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating… (more)

▼ This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the L2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discrete-time feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory. Simulations in a realistic operational environment as well as flight testing with the feedback controller demonstrate the capabilities of the approach. The TSM is also applied for system identification of an aircraft using motion capture data. In this application, time domain system identification techniques are used to identify both linear and nonlinear aerodynamic models of large-amplitude pitching motions driven by control surface deflections. The resulting models are assessed based on both their predictive capabilities as well as simulation results. Advisors/Committee Members: Farhood, Mazen H. (committeechair), Woolsey, Craig A. (committee member), Sultan, Cornel (committee member), Patil, Mayuresh J. (committee member).

Subjects/Keywords: Aircraft; Motion Primitives; Parameter Estimation; Path Planning; System Identification; Trajectory Generation

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

APA (6^th Edition):

Grymin, D. J. (2013). Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles . (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/24520

Chicago Manual of Style (16^th Edition):

Grymin, David J. “Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles .” 2013. Doctoral Dissertation, Virginia Tech. Accessed March 08, 2021. http://hdl.handle.net/10919/24520.

MLA Handbook (7^th Edition):

Grymin, David J. “Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles .” 2013. Web. 08 Mar 2021.

Vancouver:

Grymin DJ. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles . [Internet] [Doctoral dissertation]. Virginia Tech; 2013. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/10919/24520.

Council of Science Editors:

Grymin DJ. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles . [Doctoral Dissertation]. Virginia Tech; 2013. Available from: http://hdl.handle.net/10919/24520

University of Cape Town

18. Patel, Javaad. Design, modelling and control of a brachiating power line inspection robot.

Degree: Image, Electrical Engineering, 2016, University of Cape Town

URL: http://hdl.handle.net/11427/20464

► The inspection of power lines and associated hardware is vital to ensuring the reliability of the transmission and distribution network. The repetitive nature of the… (more)

Subjects/Keywords: Electrical Engineering; Power line inspection; Brachiating robot; Feedback control; Trajectory generation

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APA (6^th Edition):

Patel, J. (2016). Design, modelling and control of a brachiating power line inspection robot. (Thesis). University of Cape Town. Retrieved from http://hdl.handle.net/11427/20464

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

Chicago Manual of Style (16^th Edition):

Patel, Javaad. “Design, modelling and control of a brachiating power line inspection robot.” 2016. Thesis, University of Cape Town. Accessed March 08, 2021. http://hdl.handle.net/11427/20464.

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

MLA Handbook (7^th Edition):

Patel, Javaad. “Design, modelling and control of a brachiating power line inspection robot.” 2016. Web. 08 Mar 2021.

Vancouver:

Patel J. Design, modelling and control of a brachiating power line inspection robot. [Internet] [Thesis]. University of Cape Town; 2016. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/11427/20464.

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

Council of Science Editors:

Patel J. Design, modelling and control of a brachiating power line inspection robot. [Thesis]. University of Cape Town; 2016. Available from: http://hdl.handle.net/11427/20464

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

Arizona State University

19. Nolastname, Kashyap Sathyamurthy. Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter.

Degree: Aerospace Engineering, 2020, Arizona State University

URL: http://repository.asu.edu/items/57415

► Control algorithm development for quadrotor is usually based solely on rigid body dynamics neglecting aerodynamics. Recent work has demonstrated that such a model is suited… (more)

Subjects/Keywords: Aerospace engineering; Aerodynamic effects; Control System; Drag; Quadrotors; Trajectory generation; UAV

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

APA (6^th Edition):

Nolastname, K. S. (2020). Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter. (Masters Thesis). Arizona State University. Retrieved from http://repository.asu.edu/items/57415

Chicago Manual of Style (16^th Edition):

Nolastname, Kashyap Sathyamurthy. “Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter.” 2020. Masters Thesis, Arizona State University. Accessed March 08, 2021. http://repository.asu.edu/items/57415.

MLA Handbook (7^th Edition):

Nolastname, Kashyap Sathyamurthy. “Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter.” 2020. Web. 08 Mar 2021.

Vancouver:

Nolastname KS. Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter. [Internet] [Masters thesis]. Arizona State University; 2020. [cited 2021 Mar 08]. Available from: http://repository.asu.edu/items/57415.

Council of Science Editors:

Nolastname KS. Effect of Incorporating Aerodynamic Drag Model on Trajectory Tracking Performance of DJI F330 Quadcopter. [Masters Thesis]. Arizona State University; 2020. Available from: http://repository.asu.edu/items/57415

University of Waterloo

20. Alzaydi, Ammar. Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling.

Degree: 2016, University of Waterloo

URL: http://hdl.handle.net/10012/11039

► Laser drilling provides a highly productive method for producing arrays of holes on planar and freeform shaped components. Industrial applications include fuel injection nozzles, printed… (more)

▼ Laser drilling provides a highly productive method for producing arrays of holes on planar and freeform shaped components. Industrial applications include fuel injection nozzles, printed circuit boards (PCB’s), inkjet printer heads, pinholes and slits for scientific instrumentation, high-resolution circuitry, sensors, fiber-optic interconnects, medical devices, and gas turbine combustion chamber panels. This thesis deals with time-optimal trajectory planning for two mainstream laser drilling methods: on-the-fly drilling and percussion drilling, which are used in the aerospace industry. The research has been conducted in collaboration with the Canadian aero-engine producer, Pratt & Whitney Canada (P&WC). The algorithms developed have been tested in a target application involving the laser drilling of cooling hole arrays on gas turbine engine combustion chamber panels. On-the-fly drilling is an operation in which each hole receives one low powered shot at a time while the workpiece is in motion, and the beam focal point is continuously proceeding to the next hole location. The positioning sequence repeats itself until all holes are gradually opened up in small increments. Each hole location has ample time to cool down before the next shot is received. Thus, this process can yield favorable material properties in terms of preserving the desired crystal structure, and also hole quality in terms of dimensional (size) and form (shape) accuracy, due to the reduction of local thermal loading. However, there is no existing trajectory planner, in industry, or in literature, capable of generating time-optimized positioning trajectories for on-the-fly laser drilling. This thesis studies this problem and presents a new algorithm, capable of handling 5 degree-of-freedom (axis) positioning capability. The ability to generate spline-based smooth trajectories is integrated within a Traveling Salesman Problem (TSP) type sequencing algorithm. The sequencing algorithm optimizes both the order of the waypoints (i.e., hole locations) and also the timing levels in between, which affect the temporal (time-dependent) nature of the motions commanded to the laser drilling machine’s actuators. Furthermore, the duration between consecutive holes has to be an integer multiple of the laser pulsing period, considering a machine configuration in which the laser is firing at a constant frequency, and unused pulses are diverted away using a quick shutter. It is shown that the proposed algorithm is capable of generating 17-25% reduction in the beam positioning time spent during a manufacturing cycle, compared to some of the contemporary practices in industry. 17% reduction in the vibrations induced onto the laser optics is also observed, which helps prevent downtime due to the optics hardware gradually losing alignment. The second type of laser drilling operation for which optimized 5-axis trajectory planning has been developed is percussion drilling. In this process, a series of pulses are sent to each hole while the part is stationary. Once the…

Subjects/Keywords: Time-Optimal; Trajectory; Trajectory Generation; Way-Point; Way-Point Sequencing; 5-Axis; Laser Drilling; Percussion; On-the-Fly

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APA (6^th Edition):

Alzaydi, A. (2016). Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/11039

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

Chicago Manual of Style (16^th Edition):

Alzaydi, Ammar. “Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling.” 2016. Thesis, University of Waterloo. Accessed March 08, 2021. http://hdl.handle.net/10012/11039.

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

MLA Handbook (7^th Edition):

Alzaydi, Ammar. “Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling.” 2016. Web. 08 Mar 2021.

Vancouver:

Alzaydi A. Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling. [Internet] [Thesis]. University of Waterloo; 2016. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/10012/11039.

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

Council of Science Editors:

Alzaydi A. Time-Optimal Trajectory Generation and Way-Point Sequencing for 5-Axis Laser Drilling. [Thesis]. University of Waterloo; 2016. Available from: http://hdl.handle.net/10012/11039

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

University of Lund

21. Ghazaei, Mahdi. On Trajectory Generation for Robots.

Degree: 2016, University of Lund

URL: https://lup.lub.lu.se/record/a17ad6f3-1e6b-4209-ae9f-92a6d80ed994 ; https://portal.research.lu.se/ws/files/17350248/thesis_mahdi_v161115.pdf

► A fundamental problem in robotics is the generation of motion for a task. How to translate a task to a set of movements is a… (more)

▼ A fundamental problem in robotics is the generation of motion for a task. How to translate a task to a set of movements is a non-trivial problem. The complexity of the task, the capabilities of the robot, and the desired performance, affect all aspects of the trajectory; the sequence of movements, the path, and the course of motion as a function of time.This thesis is about trajectory generation and advances the state of the art in several directions. Special attention to trajectories in constrained situations when interaction forces are involved is paid. We bring a control perspective to trajectory generation and propose novel solutions for online trajectory generation with a rapid response to sensor inputs. We formulate and find optimal trajectories for various problems, closing the gap between path planning and trajectory generation. The inverse problem of finding the control signal corresponding to a desired trajectory is investigated and we extend the applicability of an existing algorithm to a broader class of problems.To collect human-generated trajectories involving force interactions, we propose a method to join two robotic manipulators to form a haptic interface for task demonstration. Furthermore, fast algorithms for fixed-time point-to-point trajectory generation are investigated. More importantly, two optimal closed-loop trajectory generation methods are proposed. We derive an optimal controller for the fixed-time trajectory-generation problem with a minimum-jerk cost functional. The other method is based on Model Predictive Control, which allows a more generic form of system dynamics and constraints. In addition, a ball-and-finger system is modeled for studying trajectory generation where interaction plays an important role. Efficient movements for rotating the ball are numerically computed and simulated.Iterative Learning Control (ILC) finds a proper control signal for obtaining a desired trajectory. We derive frequency-domain criteria for the convergence of linear ILC on finite-time intervals that are less restrictive than existing ones in the literature.

Subjects/Keywords: Robotics; Control Engineering; Haptic Interface; Fixed-Time Point-to-Point Trajectory Generation; Online Trajectory Generation; Dynamic Simulation and Optimization; Dynamics with Varying Contacts; Iterative Learning Control

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APA (6^th Edition):

Ghazaei, M. (2016). On Trajectory Generation for Robots. (Doctoral Dissertation). University of Lund. Retrieved from https://lup.lub.lu.se/record/a17ad6f3-1e6b-4209-ae9f-92a6d80ed994 ; https://portal.research.lu.se/ws/files/17350248/thesis_mahdi_v161115.pdf

Chicago Manual of Style (16^th Edition):

Ghazaei, Mahdi. “On Trajectory Generation for Robots.” 2016. Doctoral Dissertation, University of Lund. Accessed March 08, 2021. https://lup.lub.lu.se/record/a17ad6f3-1e6b-4209-ae9f-92a6d80ed994 ; https://portal.research.lu.se/ws/files/17350248/thesis_mahdi_v161115.pdf.

MLA Handbook (7^th Edition):

Ghazaei, Mahdi. “On Trajectory Generation for Robots.” 2016. Web. 08 Mar 2021.

Vancouver:

Ghazaei M. On Trajectory Generation for Robots. [Internet] [Doctoral dissertation]. University of Lund; 2016. [cited 2021 Mar 08]. Available from: https://lup.lub.lu.se/record/a17ad6f3-1e6b-4209-ae9f-92a6d80ed994 ; https://portal.research.lu.se/ws/files/17350248/thesis_mahdi_v161115.pdf.

Council of Science Editors:

Ghazaei M. On Trajectory Generation for Robots. [Doctoral Dissertation]. University of Lund; 2016. Available from: https://lup.lub.lu.se/record/a17ad6f3-1e6b-4209-ae9f-92a6d80ed994 ; https://portal.research.lu.se/ws/files/17350248/thesis_mahdi_v161115.pdf

22. Marin, Antoine. Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels.

Degree: Docteur es, Sciences et techniques des activités physiques et sportives (STAPS), 2014, Rennes 2

URL: http://www.theses.fr/2014REN20039

►

La marche est un mécanisme complexe impliquant l’élaboration de trajectoires dans des milieux divers et variés et la réalisation des mouvements segmentaires qui permettent de… (more)

▼

La marche est un mécanisme complexe impliquant l’élaboration de trajectoires dans des milieux divers et variés et la réalisation des mouvements segmentaires qui permettent de les parcourir. Elle est alors dépendante de l’environnement, des obstacles et autres individus qui le peuplent mais également des capacités physiques du corps humain. De part cette complexité, l’étude de la marche est généralement compartimentée en deux niveaux : la génération de trajectoires locomotrices d’une part et les mouvements des membres d’autre part. Ce travail vise à proposer un processus complet d’analyse de la marche, en s’intéressant au lien unissant les trajectoires locomotrices aux mouvements segmentaires. Dans un premier temps nous nous intéressons à la génération de trajectoires. Plus particulièrement, nous nous focalisons sur une situation de croisement entre deux piétons et sur les stratégies mises en place pour éviter la collision. Puis, nous portons notre attention sur la manière dont les endroits de pose de pieds sont influencés par la trajectoire. Cette analyse nous conduit à proposer un modèle de génération d’empreintes de pas. Enfin, nous nous intéressons à la générations des trajectoires articulaires menant au mouvement de marche. Par l’utilisation de la méthode de linéarisation locale nous proposons une nouvelle méthodologie pour la simulation de la marche à partir d’une entrée unique : la prochaine empreinte pas

Walking is a complex mecanism involving trajectories generation in various environments and motion generation in order to follow the path. Then, it is dependent on environment, obstacles and peoples moving around but also on body capabilities. This complexity lead scientits to split walking analysis in two levels : trajectory generation in one hand, and motion generation in the othe hand. This work aim to provide a global walking analysis processus by linking trajectorires and motion generation. First, we explore walking trajectories throw a particular situation : pedestrians crossing. Here we take interest in trajectories and speed adaptations. Then, we sink for the link between trajectory and heelstrike. It lead us to develop a model for heelstrike generation based on trajectory. Finally, we take interest in walking motion simulation. By the use of local linearization, we provide a new methodology for joints joints angles generation

Advisors/Committee Members: Cretual, Armel (thesis director).

Subjects/Keywords: Cinématique inverse; Évitement de collision; Trajectoires locomotrices; Inverse kinematics; Obstacle avoidance; Trajectory generation; 531.3

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APA (6^th Edition):

Marin, A. (2014). Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels. (Doctoral Dissertation). Rennes 2. Retrieved from http://www.theses.fr/2014REN20039

Chicago Manual of Style (16^th Edition):

Marin, Antoine. “Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels.” 2014. Doctoral Dissertation, Rennes 2. Accessed March 08, 2021. http://www.theses.fr/2014REN20039.

MLA Handbook (7^th Edition):

Marin, Antoine. “Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels.” 2014. Web. 08 Mar 2021.

Vancouver:

Marin A. Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels. [Internet] [Doctoral dissertation]. Rennes 2; 2014. [cited 2021 Mar 08]. Available from: http://www.theses.fr/2014REN20039.

Council of Science Editors:

Marin A. Le mouvement segmentaire au service du déplacement dans la marche : analyse couplée des deux niveaux : Walking movement and trajectory : a combined analysis of the two levels. [Doctoral Dissertation]. Rennes 2; 2014. Available from: http://www.theses.fr/2014REN20039

Iowa State University

23. Lim, Dao Yan. Kinematics analysis and elevation control of a bi-directional VSAT antenna.

Degree: 2015, Iowa State University

URL: https://lib.dr.iastate.edu/etd/16619

► The VSAT antenna is used for information exchange, which in order to do so it needs to align with the satellite in space. The pre-existing… (more)

Subjects/Keywords: Classical control; Dynamics modelling; Elevation control; Notch filter; Trajectory generation; VSAT; Mechanical Engineering

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APA (6^th Edition):

Lim, D. Y. (2015). Kinematics analysis and elevation control of a bi-directional VSAT antenna. (Thesis). Iowa State University. Retrieved from https://lib.dr.iastate.edu/etd/16619

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

Chicago Manual of Style (16^th Edition):

Lim, Dao Yan. “Kinematics analysis and elevation control of a bi-directional VSAT antenna.” 2015. Thesis, Iowa State University. Accessed March 08, 2021. https://lib.dr.iastate.edu/etd/16619.

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

MLA Handbook (7^th Edition):

Lim, Dao Yan. “Kinematics analysis and elevation control of a bi-directional VSAT antenna.” 2015. Web. 08 Mar 2021.

Vancouver:

Lim DY. Kinematics analysis and elevation control of a bi-directional VSAT antenna. [Internet] [Thesis]. Iowa State University; 2015. [cited 2021 Mar 08]. Available from: https://lib.dr.iastate.edu/etd/16619.

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

Council of Science Editors:

Lim DY. Kinematics analysis and elevation control of a bi-directional VSAT antenna. [Thesis]. Iowa State University; 2015. Available from: https://lib.dr.iastate.edu/etd/16619

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

24. Rousseau, Gauthier. Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques.

Degree: Docteur es, Automatique, 2019, Université Paris-Saclay (ComUE)

URL: http://www.theses.fr/2019SACLC086

►

Cette thèse s'intéresse à la réalisation autonome de plans de vol cinématographiques par un quadrotor équipé d'une caméra. Ces plans de vol consistent en une… (more)

▼

Cette thèse s'intéresse à la réalisation autonome de plans de vol cinématographiques par un quadrotor équipé d'une caméra. Ces plans de vol consistent en une série de points de passage à rejoindre successivement, en adoptant diverses méthodes de prise de vue et en respectant des références de vitesses ainsi que des couloirs de vols. Une étude approfondie de la dynamique du quadrotor est tout d'abord proposée et utilisée pour construire un modèle linéarisé du drone autour de l'équilibre de vol stationnaire. L'analyse de ce modèle linéaire permet de mettre en évidence l'impact de l'inertie des rotors du drone dans sa dynamique, notamment l'apparition d'un comportement à non minimum de phase en roulis ou tangage, lorsque les moteurs sont inclinés. Dans un second temps, deux algorithmes de génération de trajectoires lisses, faisables et adaptées à la cinématographie sont proposés. La faisabilité de la trajectoire est garantie par le respect de contraintes sur ses dérivées temporelle, adaptées pour la cinématographie et obtenue grâce à l'étude du modèle non linéaire du drone. Le premier repose sur une optimisation bi-niveaux d'une trajectoire polynomiale par morceaux, dans le but de trouver la plus rapide des trajectoires à minimum de jerk permettant d'accomplir la mission. Le second algorithme consiste en la génération de trajectoires B-spline non-uniformes à durée minimale. Pour les deux solutions, une étude de l’initialisation du problème d'optimisation est présentée, de même qu'une analyse de leurs avantages et limitations. Pour ce faire, elles sont notamment confrontées à des simulations et vols extérieurs. Enfin, une loi de commande prédictive est proposée pour asservir les mouvements de la caméra embarquée de manière douce et précise.

This thesis focuses on the autonomous performance of cinematographic flight plans by camera equipped quadrotors. These flight plans consist in a series of waypoints to join while adopting various camera behaviors, along with speed references and flight corridors. First, an in depth study of the nonlinear dynamics of the drone is proposed, which is then used to derive a linear model of the system around the hovering equilibrium. An analysis of this linear model allows us to emphasize the impact of the inertia of the propellers when the latter are tilted, such as the apparition of a nonminimum phase behavior of the pitch or roll dynamics. Then, two algorithms are proposed to generate smooth and feasible cinematographic trajectories. The feasibility of the trajectory is ensured by constraints on its time derivatives, suited for cinematography and obtained with the use of the nonlinear model of the drone. The first algorithm proposed in this work is based on a bi-level optimization of a piecewise polynomial trajectory, in order to find the fastest feasible minimum jerk trajectory to perform the flight plan. The second algorithm consists in the generation of feasible, minimum time, non-uniform B-spline trajectories. For both solutions, a study of the initilization of the optimization…

Advisors/Committee Members: Stoica-Maniu, Cristina (thesis director).

Subjects/Keywords: Quadricoptère; Génération de trajectoire; Cinématographie; B-Spline; Uav; Quadrotor; Trajectory generation; Cinematography; B-Spline; Uav

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

APA (6^th Edition):

Rousseau, G. (2019). Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques. (Doctoral Dissertation). Université Paris-Saclay (ComUE). Retrieved from http://www.theses.fr/2019SACLC086

Chicago Manual of Style (16^th Edition):

Rousseau, Gauthier. “Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques.” 2019. Doctoral Dissertation, Université Paris-Saclay (ComUE). Accessed March 08, 2021. http://www.theses.fr/2019SACLC086.

MLA Handbook (7^th Edition):

Rousseau, Gauthier. “Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques.” 2019. Web. 08 Mar 2021.

Vancouver:

Rousseau G. Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques. [Internet] [Doctoral dissertation]. Université Paris-Saclay (ComUE); 2019. [cited 2021 Mar 08]. Available from: http://www.theses.fr/2019SACLC086.

Council of Science Editors:

Rousseau G. Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors : Trajectoires optimales et commande prédictive d'un quadricoptère pour la réalisation de plans de vol cinématographiques. [Doctoral Dissertation]. Université Paris-Saclay (ComUE); 2019. Available from: http://www.theses.fr/2019SACLC086

25. Pehlivantürk, Can. Lossless convexification of quadrotor motion planning with experiments.

Degree: MSin Engineering, Mechanical Engineering, 2014, University of Texas – Austin

URL: http://hdl.handle.net/2152/26388

► This thesis describes a motion planning method that is designed to guide an autonomous quadrotor. The proposed method is based on a novel lossless convexication,… (more)

Subjects/Keywords: Quadrotor; UAV; Trajectory generation; Convexification

…Chapter 4. Results 4.1 Trajectory Generation . . 4.2 Flight Tests . . . . . . . 4.2.1… …The aim is to develop a solution to the trajectory generation problem and implement it on an… …and implementation of a convexified optimal trajectory generation problem formulated for… …quadrotors. Almost all of these groups have developed trajectory generation strategies. Iterative… …without a convex programming approach [25]. Guidance, trajectory generation, and task…

4 more images…

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

APA (6^th Edition):

Pehlivantürk, C. (2014). Lossless convexification of quadrotor motion planning with experiments. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/26388

Chicago Manual of Style (16^th Edition):

Pehlivantürk, Can. “Lossless convexification of quadrotor motion planning with experiments.” 2014. Masters Thesis, University of Texas – Austin. Accessed March 08, 2021. http://hdl.handle.net/2152/26388.

MLA Handbook (7^th Edition):

Pehlivantürk, Can. “Lossless convexification of quadrotor motion planning with experiments.” 2014. Web. 08 Mar 2021.

Vancouver:

Pehlivantürk C. Lossless convexification of quadrotor motion planning with experiments. [Internet] [Masters thesis]. University of Texas – Austin; 2014. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/2152/26388.

Council of Science Editors:

Pehlivantürk C. Lossless convexification of quadrotor motion planning with experiments. [Masters Thesis]. University of Texas – Austin; 2014. Available from: http://hdl.handle.net/2152/26388

University of Oregon

26. Sun, Xiaoning. The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study.

Degree: PhD, Department of Psychology, 2020, University of Oregon

URL: https://scholarsbank.uoregon.edu/xmlui/handle/1794/25871

► Young children’s capacities for emotional, biological, and behavioral self-regulation are key indicators for their optimal developmental outcomes. Early in their lives, infants display limited regulatory… (more)

▼ Young children’s capacities for emotional, biological, and behavioral self-regulation are key indicators for their optimal developmental outcomes. Early in their lives, infants display limited regulatory capacity and largely rely on their caregivers to observe, learn, and practice regulation strategies. However, caregivers who suffer from mental disorders, especially those characterized by affective and behavioral dysregulation, tend to be compromised in their abilities to provide these essential learning opportunities, often leading to compromised self-regulation skills in their offspring. The current dissertation examined the impact of family history of mental illness on the development of self-regulation during infants’ first two years of life. This dissertation also explored the role that parental behaviors during parent-child interactions might play as mechanisms that explain this association. Operationalizing infants’ self-regulation by behavioral orientation, the results revealed that infants demonstrated overall increasing regulatory capacities from 3- to 24-months, with, however, a short-term decrease from 3- to 12-months. Moreover, there was significant within-sample individual differences in these trajectories. Further, those who demonstrated self-regulation intercept subsequently experienced slower development of self-regulation. Analyzing the impact of parental lifetime psychopathology on such development, maternal psychopathology was associated with self-regulation intercept, whereas fathers’ internalizing disorder predicted infants’ faster self-regulation growth rate. Regarding the association between parental history of psychopathology and infant self-regulation development, parental behaviors including both positive and negative behaviors demonstrated moderating effects. Finally, the three-generation analyses revealed that lifetime psychopathology in G1 maternal grandmothers showed an overarching influence on their grandchildren’s self-regulation, and lifetime psychopathology in G1 paternal grandparents demonstrated moderating effects on the association between G2 fathers’ psychopathology and G3 self-regulation development. This dissertation advances the current literature on the development of self-regulation during infancy and early childhood by addressing (a) its development trajectory, (b) maternal, paternal influences, as well as grandparental influences, and (c) the potential mechanisms through which family history of mental illness may impact the development of children’s self-regulation. Finally, the results of this dissertation can inform the development of interventions, including early identification of those who are at risk for self-regulation development difficulties, and early intervention strategies. Advisors/Committee Members: Allen, Nick (advisor).

Subjects/Keywords: Developmental Trajectory; Family History of Mental Illness; Infancy; Parental Behaviors; Self-Regulation; Three-Generation

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

APA (6^th Edition):

Sun, X. (2020). The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study. (Doctoral Dissertation). University of Oregon. Retrieved from https://scholarsbank.uoregon.edu/xmlui/handle/1794/25871

Chicago Manual of Style (16^th Edition):

Sun, Xiaoning. “The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study.” 2020. Doctoral Dissertation, University of Oregon. Accessed March 08, 2021. https://scholarsbank.uoregon.edu/xmlui/handle/1794/25871.

MLA Handbook (7^th Edition):

Sun, Xiaoning. “The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study.” 2020. Web. 08 Mar 2021.

Vancouver:

Sun X. The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study. [Internet] [Doctoral dissertation]. University of Oregon; 2020. [cited 2021 Mar 08]. Available from: https://scholarsbank.uoregon.edu/xmlui/handle/1794/25871.

Council of Science Editors:

Sun X. The Development of Infant Self-Regulation in the Context of Family History of Mental Illness: A Three-Generation Study. [Doctoral Dissertation]. University of Oregon; 2020. Available from: https://scholarsbank.uoregon.edu/xmlui/handle/1794/25871

Brigham Young University

27. Sun, Liang. Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems.

Degree: PhD, 2012, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4531&context=etd

► In this dissertation, we focus on the strategy that places and stabilizes the path of an aerial drogue, which is towed by a mothership aircraft… (more)

▼ In this dissertation, we focus on the strategy that places and stabilizes the path of an aerial drogue, which is towed by a mothership aircraft using a long flexible cable, onto a horizontally flat orbit by maneuvering the mothership in the presence of wind. To achieve this goal, several studies for towed cable systems are conducted, which include the dynamic modeling for the cable, trajectory generation strategies for the mothership, trajectory-tracking control law design, and simulation and flight test implementations. First, a discretized approximation method based on finite element and lumped mass is employed to establish the mathematical model for the towed cable system in the simulation. Two approaches, Gauss's Principle and Newton's second law, are utilized to derive the equations of motion for inelastic and elastic cables, respectively. The preliminary studies for several key parameters of the system are conducted to learn their sensitivities to the system motion in the steady state. Flight test results are used to validate the mathematical model as well as to determine an appropriate number of cable links. Furthermore, differential flatness and model predictive control based methods are used to produce a mothership trajectory that leads the drogue onto a desired orbit. Different desired drogue orbits are utilized to generate required mothership trajectories in different wind conditions. The trajectory generation for a transitional flight in which the system flies from a straight and level flight into a circular orbit is also presented. The numerical results are presented to illustrate the required mothership orbits and its maneuverability in different wind conditions. A waypoint following based strategy for mothership to track its desired trajectory in flight test is developed. The flight test results are also presented to illustrate the effectiveness of the trajectory generation methods. In addition, a nonlinear time-varying feedback control law is developed to regulate the mothership to follow the desired trajectory in the presence of wind. Cable tensions and wind disturbance are taken into account in the design model and Lyapunov based backstepping technique is employed to develop the controller. The mothership tracking error is proved to be capable of exponentially converging to an ultimate bound, which is a function of the upper limit of the unknown component of the wind. The simulation results are presented to validate the controller. Finally, a trajectory-tracking strategy for unmanned aerial vehicles is developed where the autopilot is involved in the feedback controller design. The trajectory-tracking controller is derived based on a generalized design model using Lyapunov based backstepping. The augmentations of the design model and trajectory-tracking controller are conducted to involve the autopilot in the closed-loop system. Lyapunov stability theory is used to guarantee the augmented controller is capable of driving the vehicle to exponentially converge to and follow the desired trajectory with…

Subjects/Keywords: towed cable system; trajectory generation; trajectory tracking; model predictive control; differential flatness; autopilot in the loop; aerial recovery; Electrical and Computer Engineering

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

APA (6^th Edition):

Sun, L. (2012). Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems. (Doctoral Dissertation). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4531&context=etd

Chicago Manual of Style (16^th Edition):

Sun, Liang. “Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems.” 2012. Doctoral Dissertation, Brigham Young University. Accessed March 08, 2021. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4531&context=etd.

MLA Handbook (7^th Edition):

Sun, Liang. “Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems.” 2012. Web. 08 Mar 2021.

Vancouver:

Sun L. Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems. [Internet] [Doctoral dissertation]. Brigham Young University; 2012. [cited 2021 Mar 08]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4531&context=etd.

Council of Science Editors:

Sun L. Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems. [Doctoral Dissertation]. Brigham Young University; 2012. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4531&context=etd

28. Escamilla Núñez, Héctor. Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic.

Degree: Docteur es, Signal, image, acoustique et optimisation, 2018, Université Toulouse III – Paul Sabatier

URL: http://www.theses.fr/2018TOU30074

► Ce travail est développé dans le contexte des projets SESAR et Next-Gen, où de nouvelles applications de la gestion du trafic aérien (ATM) comme le… (more)

▼ Ce travail est développé dans le contexte des projets SESAR et Next-Gen, où de nouvelles applications de la gestion du trafic aérien (ATM) comme le concept de gestion d'opérations en 4D, se sont focalisées sur les opérations basées sur la trajectoire (TBO - Trajectory Based Operations). Ces opérations sont en relation avec l'extension de la flexibilité de la séparation entre avions, et par conséquence, avec l'augmentation de la capacité du trafic aérien. En sachant qu'une évolution des routes fixes et autorisations émises par le contrôle du trafic aérien (ATC - Air Traffic Control) vers des trajectoires flexibles est imminente, en s'appuyant en même temps aux niveaux les plus élevés de l'automatique embarquée, ce travail de recherche s'intéresse aux sujets qui aideront à la transition des systèmes actuels vers les systèmes compatibles avec les nouveaux besoins des TBO. Les principaux axes de recherche de ce manuscrit s'articulent en trois points: La génération de trajectoires en 4D, le guidage en 4D, et l'estimation de la masse d'un avion pour l'optimisation des trajectoires. Concernant la génération des trajectoires, le besoin des utilisateurs d'espaces aériens de planifier leurs routes préférées à partir d'un point d'entrée dans l'espace aérien sans être limités par les configurations existantes est considéré. Une solution particulière pour la génération de trajectoires lisses en 4D à partir de points de contrôle prédéfinis est alors explorée. La méthode proposée s'appuie sur les courbes de Bézier, et elle permet de contrôler la distance euclidienne entre le point de contrôle donné et la trajectoire proposée. Ceci est fait en modifiant la trajectoire de telle façon qu'elle reste à l'intérieur des limites des facteurs de charge, en considérant un compromis entre la courbure de la trajectoire et la vitesse voulue de l'avion, ce qui représente une étape importante dans le chemin vers les TBO. Le guidage précis en 4D améliorera la sûreté en diminuant l'occurrence de quasi-collisions aériennes pour des trajectoires en 4D planifiées en avance. En conséquence, deux autopilotes et deux méthodes de guidage sont développées avec l'objectif de réduire la charge de travail des contrôleurs du trafic aérien associée à un vol. Les techniques de backstepping et feedback linearization sont utilisées pour le pilotage, alors que l'inversion non linéaire directe et indirecte sont adoptées pour le guidage. De plus, l'impact de la connaissance inexacte de la masse de l'avion dans le suivi de trajectoires, ses conséquences dans l'optimisation, la consommation de carburant, et la performance de l'avion, a conduit à l'implémentation d'une estimation embarquée de la masse de l'avion. L'approche créée est basée sur les moindres carrées, en fournissant des estimations de la masse initiale et la masse courante, toutes les deux avec une précision suffisante pour atteindre les objectifs liées aux TBO. Les méthodes proposées dans cette thèse sont examinées en utilisant un modèle à six degrés de liberté, dont les paramètres approchent un appareil… Advisors/Committee Members: Mora-Camino, Félix (thesis director), Drouin, Antoine (thesis director).

Subjects/Keywords: Génération de trajectoires; Contrôle automatique; Suivi de trajectoires; Estimation de la masse; Simulation d'avions de transport; Trajectory generation; Automatic control; Trajectory tracking; Transport aircraft

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

APA (6^th Edition):

Escamilla Núñez, H. (2018). Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic. (Doctoral Dissertation). Université Toulouse III – Paul Sabatier. Retrieved from http://www.theses.fr/2018TOU30074

Chicago Manual of Style (16^th Edition):

Escamilla Núñez, Héctor. “Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic.” 2018. Doctoral Dissertation, Université Toulouse III – Paul Sabatier. Accessed March 08, 2021. http://www.theses.fr/2018TOU30074.

MLA Handbook (7^th Edition):

Escamilla Núñez, Héctor. “Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic.” 2018. Web. 08 Mar 2021.

Vancouver:

Escamilla Núñez H. Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic. [Internet] [Doctoral dissertation]. Université Toulouse III – Paul Sabatier; 2018. [cited 2021 Mar 08]. Available from: http://www.theses.fr/2018TOU30074.

Council of Science Editors:

Escamilla Núñez H. Contribution au guidage des avions en trafic à haute densité : Contribution to flight guidance in high density traffic. [Doctoral Dissertation]. Université Toulouse III – Paul Sabatier; 2018. Available from: http://www.theses.fr/2018TOU30074

Delft University of Technology

29. Van Duijkeren, N.J. (author). Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.

Degree: 2014, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

►

The so-called A-double long heavy vehicle combination is a 32 meter long and up to 80 tonnes heavy double-trailer truck widely used in Canada and… (more)

▼

The so-called A-double long heavy vehicle combination is a 32 meter long and up to 80 tonnes heavy double-trailer truck widely used in Canada and Australia today, and will be more abundant on the road also in Europe in the near future. They have the potential to decrease road transport cost, traffic congestion and generate lower emissions than current road freight transport. However, an undesired effect of the added towed units is the increase in difficulty to maneuver truck on roads and in busy traffic. The increasing complexity for truck drivers to handle trivial tasks like lane changing call for advanced driver assistance functions. The development of advanced assistance systems or potentially autonomous functioning trucks can improve traffic safety, allowing for further increase in use of long combination trucks. This thesis work focuses on one crucial element of such driver assistance systems, the ability to plan a safe and smooth trajectory and generate control signals for the low level actuators. Based on the measured vehicle-state, the road curvature and measurements of surrounding vehicles, a (sub)optimal steering action and cruise control reference velocity ought to be generated. A receding horizon optimal control problem (OCP) is formulated, with a nonlinear single-track vehicle prediction model for the A-double combination. The OCP is designed to capture the main highway driving tasks of lane keeping, lane changing and collision avoidance. A direct multiple-shooting solution strategy to this OCP is implemented using the automatic code-generation functionality of the ACADO toolkit. Results of closed-loop simulations are presented for the control of both the vehicle prediction model and a high-fidelity vehicle model, developed and validated by Volvo Group Truck Technology. Because of the computational performance advantages of the Real-Time Iteration algorithm and the automatic code-generation for the solution scheme, real-time performance is achieved for the optimization-based receding horizon trajectory generator for the A-double combination.

Systems & Control

Delft Center for Systems and Control

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Keviczky, T. (mentor), Laine, L. (mentor), Nilsson, P. (mentor).

Subjects/Keywords: model predictive control; mpc; receding horizon; rhc; real-time; trajectory generation; trajectory generator; long combination; truck; driver assistance; collision avoidance; highway; volvo; nonlinear programming; optimal control; A-double

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

APA (6^th Edition):

Van Duijkeren, N. J. (. (2014). Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

Chicago Manual of Style (16^th Edition):

Van Duijkeren, N J (author). “Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.” 2014. Masters Thesis, Delft University of Technology. Accessed March 08, 2021. http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7.

MLA Handbook (7^th Edition):

Van Duijkeren, N J (author). “Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.” 2014. Web. 08 Mar 2021.

Vancouver:

Van Duijkeren NJ(. Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. [Internet] [Masters thesis]. Delft University of Technology; 2014. [cited 2021 Mar 08]. Available from: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7.

Council of Science Editors:

Van Duijkeren NJ(. Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. [Masters Thesis]. Delft University of Technology; 2014. Available from: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

Penn State University

30. Thorsen, Adam Thomas. A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT.

Degree: 2016, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/13345att5041

► This study investigates a novel approach to flight control for a compound rotorcraft in a variety of maneuvers ranging from fundamental to aerobatic in nature.… (more)

▼ This study investigates a novel approach to flight control for a compound rotorcraft in a variety of maneuvers ranging from fundamental to aerobatic in nature. Fundamental maneuvers are a class of maneuvers with design significance that are useful for testing and tuning flight control systems along with uncovering control law deficiencies. Aerobatic maneuvers are a class of aggressive and complex maneuvers with more operational significance. The process culminating in a unified approach to flight control includes various control allocation studies for redundant controls in trim and maneuvering flight, an efficient methodology to simulate non-piloted maneuvers with varying degrees of complexity, and the setup of an unconventional control inceptor configuration along with the use of a flight simulator to gather pilot feedback in order to improve the unified control architecture. A flight path generation algorithm was developed to calculate control inceptor commands required for a rotorcraft in aerobatic maneuvers. This generalized algorithm was tailored to generate flight paths through optimization methods in order to satisfy target terminal position coordinates or to minimize the total time of a particular maneuver. Six aerobatic maneuvers were developed drawing inspiration from air combat maneuvers of fighter jet aircraft: Pitch-Back Turn (PBT), Combat Ascent Turn (CAT), Combat Descent Turn (CDT), Weaving Pull-up (WPU), Combat Break Turn (CBT), and Zoom and Boom (ZAB). These aerobatic maneuvers were simulated at moderate to high advance ratios while fundamental maneuvers of the compound including level accelerations/decelerations, climbs, descents, and turns were investigated across the entire flight envelope to evaluate controller performance. The unified control system was developed to allow controls to seamlessly transition between manual and automatic allocations while ensuring that the axis of control for a particular inceptor remained constant with flight regime. An energy management system was developed in order to manage performance limits (namely power required) to promote carefree maneuvering and alleviate pilot workload. This system features limits on pilot commands and has additional logic for preserving control margins and limiting maximum speed in a dive. Nonlinear dynamic inversion (NLDI) is the framework of the unified controller, which incorporates primary and redundant controls. The inner loop of the NLDI controller regulates bank angle, pitch attitude, and yaw rate, while the outer loop command structure is varied (three modes). One version uses an outer loop that commands velocities in the longitudinal and vertical axes (velocity mode), another commands longitudinal acceleration and vertical speed (acceleration mode), and the third commands longitudinal acceleration and transitions from velocity to acceleration command in the vertical axis (aerobatic mode). The flight envelope is discretized into low, cruise, and high speed flight regimes. The unified outer loop primary control… Advisors/Committee Members: Joseph Francis Horn, Dissertation Advisor/Co-Advisor, Joseph Francis Horn, Committee Chair/Co-Chair, Edward Smith, Committee Member, Kenneth Steven Brentner, Committee Member, Christopher Rahn, Outside Member.

Subjects/Keywords: compound; rotorcraft; aerobatic; maneuvers; unified control; flight control; redundant controls; flight path generation; trajectory optimization; energy management

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

APA (6^th Edition):

Thorsen, A. T. (2016). A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/13345att5041

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

Chicago Manual of Style (16^th Edition):

Thorsen, Adam Thomas. “A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT.” 2016. Thesis, Penn State University. Accessed March 08, 2021. https://submit-etda.libraries.psu.edu/catalog/13345att5041.

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

MLA Handbook (7^th Edition):

Thorsen, Adam Thomas. “A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT.” 2016. Web. 08 Mar 2021.

Vancouver:

Thorsen AT. A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT. [Internet] [Thesis]. Penn State University; 2016. [cited 2021 Mar 08]. Available from: https://submit-etda.libraries.psu.edu/catalog/13345att5041.

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

Council of Science Editors:

Thorsen AT. A UNIFIED FLIGHT CONTROL METHODOLOGY FOR A COMPOUND ROTORCRAFT IN FUNDAMENTAL AND AEROBATIC MANEUVERING FLIGHT. [Thesis]. Penn State University; 2016. Available from: https://submit-etda.libraries.psu.edu/catalog/13345att5041

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

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Open Access Theses and Dissertations