Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Download Autonomous Object Avoidance Trajectory Planning For Unpowered Flight Vehicles full books in PDF, epub, and Kindle. Read online Autonomous Object Avoidance Trajectory Planning For Unpowered Flight Vehicles ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Author : Paul David Darrah
Publisher :
ISBN 13 :
Total Pages : 136 pages
Book Rating : 4.:/5 (435 download)
Download or read book Autonomous Object Avoidance Trajectory Planning for Unpowered Flight Vehicles written by Paul David Darrah and published by . This book was released on 1999 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Laird-Philip Ryan Lewis
Publisher :
ISBN 13 :
Total Pages : 161 pages
Book Rating : 4.:/5 (227 download)
Download or read book Rapid Motion Planning and Autonomous Obstacle Avoidance for Unmanned Vehicles written by Laird-Philip Ryan Lewis and published by . This book was released on 2006 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces the use of optimal control methods for path planning and control of autonomous vehicles in an obstacle-rich environment. Traditional techniques harbor non-optimal, closed architectures primarily derived at a time when computational complexity could significantly hinder overall system performance. Advancements in computing power, miniaturization, and numerical methods permit the utilization of online, optimal path planning and control, thereby improving system flexibility and autonomy. The backbone of this concept is state-of-the-art optimal control techniques involving pseudospectral methods and sequential quadratic programming. Although this research focuses on a robotic car or Unmanned Ground Vehicle (UGV), several systems, including an Unmanned Aerial Vehicle (UAV) and a pendulum on a rotational base, are detailed for the purpose of illustrating the technique's modularity. With respect to the UGV, optimal control methods permit the optimization of maneuver parameters while accounting for complex vehicle kinematics and workspace obstacles, represented as dynamic and path constraints respectively. The path constraints are modeled such that an obstacle of any shape or size can be included. Maneuvering trajectories are first generated in an open-loop architecture, followed by an application of these same techniques in feedback form. Lastly, model fidelity is increased to improve control over vehicle behavior and closed-loop performance and a local knowledge scenario is evaluated.
Author : Zhengyu Song
Publisher : Springer Nature
ISBN 13 : 981990613X
Total Pages : 229 pages
Book Rating : 4.8/5 (199 download)
Download or read book Autonomous Trajectory Planning and Guidance Control for Launch Vehicles written by Zhengyu Song and published by Springer Nature. This book was released on 2023-04-15 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book highlights the autonomous and intelligent flight control of future launch vehicles for improving flight autonomy to plan ascent and descent trajectories onboard, and autonomously handle unexpected events or failures during the flight. Since the beginning of the twenty-first century, space launch activities worldwide have grown vigorously. Meanwhile, commercial launches also account for the booming trend. Unfortunately, the risk of space launches still exists and is gradually increasing in line with the rapidly rising launch activities and commercial rockets. In the history of space launches, propulsion and control systems are the two main contributors to launch failures. With the development of information technologies, the increase of the functional density of hardware products, the application of redundant or fault-tolerant solutions, and the improvement of the testability of avionics, the launch losses caused by control systems exhibit a downward trend, and the failures induced by propulsion systems become the focus of attention. Under these failures, the autonomous planning and guidance control may save the missions. This book focuses on the latest progress of relevant projects and academic studies of autonomous guidance, especially on some advanced methods which can be potentially real-time implemented in the future control system of launch vehicles. In Chapter 1, the prospect and technical challenges are summarized by reviewing the development of launch vehicles. Chapters 2 to 4 mainly focus on the flight in the ascent phase, in which the autonomous guidance is mainly reflected in the online planning. Chapters 5 and 6 mainly discuss the powered descent guidance technologies. Finally, since aerodynamic uncertainties exert a significant impact on the performance of the ascent / landing guidance control systems, the estimation of aerodynamic parameters, which are helpful to improve flight autonomy, is discussed in Chapter 7. The book serves as a valuable reference for researchers and engineers working on launch vehicles. It is also a timely source of information for graduate students interested in the subject.
Author : Yadollah Rasekhipour
Publisher :
ISBN 13 :
Total Pages : 118 pages
Book Rating : 4.:/5 (13 download)
Download or read book Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles written by Yadollah Rasekhipour and published by . This book was released on 2017 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: Driver errors are a critical factor of the majority of car crashes. Autonomous vehicles take drivers and driver errors out of the equation, so they are being developed to reduce car crashes. However, in some situations, a crash is unavoidable even for an autonomous vehicle. An autonomous vehicle is expected to behave properly in such a situation. Crashing into different obstacles have different costs based on the injury or damage the crash might cause. In an imminent crash situation, an autonomous vehicle is expected to consider these costs and plan a trajectory that avoids the obstacles with the highest priorities. In this thesis, a motion planning Model Predictive Controller (MPC) has been developed that plans the vehicle's trajectories based on the obstacle's priorities. Motion planning MPCs usually use potential fields or obstacle constraints for obstacle avoidance. However, they treat all the obstacles in the same way. Two methods have been developed in this thesis to prioritize obstacles in motion planning. The first method prioritizes obstacles based on their avoidance necessities. It categorizes obstacles as crossable and non-crossable, and assigns a potential function to each category corresponding to its avoidance necessity. The second method prioritizes obstacles based on their corresponding crash costs. It applies lexicographic optimization on the MPC to prioritize the non-crossable obstacles according to their crash costs by prioritizing their corresponding constraints. A motion planning MPC problem is generally a nonlinear MPC problem. It is usually approximated by a quadratic MPC problem to become implementable in real time. In this thesis, a quadratic motion planning MPC has been developed. This MPC has a linear vehicle model and linear vehicle and obstacle constraints. The linear vehicle model along with the linear vehicle constraints should be able to model the nonlinear vehicle behavior. A linear bicycle model has been utilized, and linear tire constraints have been developed such that they can model the nonlinear vehicle behavior at the tire force limits. Moreover, a linear obstacle constraint set misses some of the feasible trajectories in the process of convexifying the obstacle-free area. An iterative obstacle avoidance method has been developed in this thesis to reduce the number of feasible trajectories missed due to the convexification. The performance of the developed motion planning MPC has been evaluated in a computer simulation with a high fidelity vehicle model. The MPC has been simulated for test scenarios to evaluate its performance in autonomous driving and prioritizing obstacles. The capabilities of the developed tire constraints and the iterative obstacle avoidance method have also been observed. The motion planning MPC has also been implemented on an autonomous test vehicle platform to show that it is implementable in real time and to validate the simulation results.
Download or read book Comparison of Path Planning Approaches of Autonomous Vehicles for Obstacle Avoidance Application written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : This report investigates path planning and trajectory generation algorithms for the application in autonomous vehicles for obstacle avoidance. A literature review is conducted to select path planning and trajectory generation algorithms that are suitable for the obstacle avoidance application. Two path planning approaches are designed in this work. Approach 1 (RRT*-Spline) uses rapidly exploring random trees* (RRT*) path planning algorithm combined with cubic spline trajectory generation algorithm. Approach 2 (A*-Polynomial Curve) plans a feasible path by using A* algorithm and generates a smooth trajectory using 5th order polynomial curve fitting algorithm. To demonstrate obstacle avoidance of autonomous vehicles, Prescan and Matlab/Simulink are used to build an integrated model consisting of path planning and trajectory generation algorithms, an ego vehicle model, a Model Predictive Control (MPC) controller to control the longitudinal and lateral motion of the ego vehicle, and obstacle avoidance scenarios. Simulation tests are performed to validate the developed algorithms and compare the performances of two approaches for both stationary and moving obstacles. A summary of the performance comparison is provided with respect to the smoothness of the reference path, the smoothness of the reference trajectory, and the ego vehicle steering angle change while it performs an obstacle avoidance task.
Author : Mayank Jain
Publisher :
ISBN 13 :
Total Pages : 152 pages
Book Rating : 4.:/5 (276 download)
Download or read book Path Planning, Obstacle Avoidance and Trajectory Control of Unmanned Surface Vehicles written by Mayank Jain and published by . This book was released on 2008 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : ji-Wung Choi
Publisher :
ISBN 13 :
Total Pages : 348 pages
Book Rating : 4.:/5 (26 download)
Download or read book Real-time Obstacle Avoiding Motion Planning for Autonomous Ground Vehicles written by ji-Wung Choi and published by . This book was released on 2010 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Vishwamithra Reddy Sunkara
Publisher :
ISBN 13 :
Total Pages : 168 pages
Book Rating : 4.:/5 (19 download)
Download or read book Motion Planning and Control of Autonomous Vehicles Using Collision and Rendezvous Cones written by Vishwamithra Reddy Sunkara and published by . This book was released on 2018 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation uses the notion of collision cones and rendezvous cones to address several motion planning problems for autonomous vehicles. Collision avoidance is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse elds including robotics, air vehicles, underwater vehicles and computer animation. In the rendezvous problem, generating appropriate trajectories to achieve overlap of footprints of unmanned aerial vehicles is important in problems related to search and surveillance, and for establishing communication between a network of UAVs, or between a user and a base station in remote areas. In the collision avoidance problem, much of the collision avoidance literature assumes shapes of the objects as circles. However, when objects are operating in closer proximity, or when objects are elongated and/or have non-convex shapes, a less conservative approach, that considers the exact shapes of the objects, is more desirable. This dissertation presents analytical collision avoidance laws in cooperative and non-cooperative dynamic environments. The collision avoidance laws are simulated on Ionic Polymer-Metal Composite (IPMC) actuated robotic sh. Collision cones are also used to analyze pursuit evasion games between two objects of arbitrary shapes. Collision avoidance of objects that can deform by changing their shape as a function of time is also presented. The rendezvous problem requires communication/sensing footprints of vehicles to overlap. The need of the footprints to overlap is dictated by the requirement that no part of the sensed area is left uncovered in a search and surveillance operation; or by the need to position a relay UAV in the overlap region of two distant UAVs in order to enable them to communicate with each other. The concept of a rendezvous cone is used as the basis for the development of nonlinear analytical guidance laws that enable the overlap of footprints to the requisite depth.
Author : John Connors
Publisher :
ISBN 13 :
Total Pages : 194 pages
Book Rating : 4.:/5 (77 download)
Download or read book Development, Analysis and Implementation of a Spline Based, Obstacle Avoiding, Path Planning Algorithm for Autonomous Ground Vehicles written by John Connors and published by . This book was released on 2007 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Robert Holdsworth
Publisher :
ISBN 13 :
Total Pages : 283 pages
Book Rating : 4.:/5 (893 download)
Download or read book Autonomous In-flight Path Planning to Replace Pure Collision Avoidance for Free Flight Aircraft Using Automatic Depedent Surveillance Broadcast written by Robert Holdsworth and published by . This book was released on 2003 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Tong He
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (139 download)
Download or read book UAS Flight Path Planning and Collision Avoidance Based on Markov Decision Process written by Tong He and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The growing interest and trend for deploying unmanned aircraft systems (UAS) in civil applications require robust traffic management approaches that can safely integrate the unmanned platforms into the airspace. Although there have been significant advances in autonomous navigation, especially in the ground vehicles domain, there are still challenges to address for navigation in a dynamic 3D environment that airspace presents. An integrated approach that facilitates semi-autonomous operations in dynamic environments and also allows for operators to stay in the loop for intervention may provide a workable and practical solution for safe UAS integration in the airspace. This thesis research proposes a new path planning method for UAS flying in a dynamic 3D environment shared by multiple aerial vehicles posing potential conflict risks. This capability is referred to as de-confliction in drone traffic management. It primarily targets applications such as UAM [1] where multiple flying manned and/or unmanned aircraft may be present. A new multi-staged algorithm is designed that combines AFP method and Harmonic functions with AKF and MDP for dynamic path planning. It starts with the prediction of aircraft traffic density in the area and then generates the UAS flight path in a way to minimize the risk of encounters and potential conflicts. Hardware-in-the-loop simulations of the algorithm in various scenarios are presented, with an RGB-D camera and Pixhawk Autopilot to track the target. Numerical simulations show satisfactory results in various scenarios for path planning that considerably reduces the risk of conflict with other static and dynamic obstacles. A comparison with the potential field is provided that illustrates the robust and fast of the MDP algorithm.
Author : Antonios Tsourdos
Publisher : Wiley
ISBN 13 : 9780470741290
Total Pages : 214 pages
Book Rating : 4.7/5 (412 download)
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by Wiley. This book was released on 2010-12-01 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.
Author : Luca De Filippis
Publisher :
ISBN 13 : 9783659191756
Total Pages : 0 pages
Book Rating : 4.1/5 (917 download)
Download or read book Advanced Path Planning and Collision Avoidance Algorithms for UAVs written by Luca De Filippis and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Yasmina Bestaoui Sebbane
Publisher : CRC Press
ISBN 13 : 148229916X
Total Pages : 434 pages
Book Rating : 4.4/5 (822 download)
Download or read book Smart Autonomous Aircraft written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2015-11-18 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight contr
Author : Tom Schouwenaars
Publisher :
ISBN 13 :
Total Pages : 163 pages
Book Rating : 4.:/5 (748 download)
Download or read book Safe Trajectory Planning of Autonomous Vehicles written by Tom Schouwenaars and published by . This book was released on 2006 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) Vehicle safety is ensured by maintaining a feasible return trajectory at each receding horizon iteration. The feasibility and safety constraints are essential when the vehicle is maneuvering through environments that are only partially characterized and further explored online. Such a scenario was tested on an unmanned Boeing aircraft using scalable loiter circles as feasible invariant sets. The terminal feasible invariant set concept forms the basis for the construction of a provably safe distributed planning algorithm for multiple vehicles. Each vehicle then only computes its own trajectory while accounting for the latest plans and invariant sets of the other vehicles in its vicinity, i.e., of those whose reachable sets intersect with that of the planning vehicle. Conflicts are solved in real-time in a sequential fashion that maintains feasibility for all vehicles over all future receding horizon iterations. The algorithm is applied to the free flight paradigm in air traffic control and to a multi-helicopter relay network aimed at maintaining wireless line of sight communication in a cluttered environment.
Author : 郭棵
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)
Download or read book Towards Context-aware Trajectory Planning for Autonomous Vehicles written by 郭棵 and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Ajay Verma
Publisher :
ISBN 13 :
Total Pages : 14 pages
Book Rating : 4.3/5 (91 download)
Download or read book Neural Dynamic Trajectory Design for Reentry Vehicles written by Ajay Verma and published by . This book was released on 2007 with total page 14 pages. Available in PDF, EPUB and Kindle. Book excerpt: The next generation of reentry vehicles is envisioned to have onboard autonomous capability of real-time trajectory planning to provide capability of responsive launch and delivering payload anywhere with precise flight termination. This capability is also desired to overcome, if possible, in-flight vehicle damage or control effector failure resulting in degraded vehicle performance. An aerial vehicle is modeled as a nonlinear multi-input-multi-output (MIMO) system. An ideal optimal trajectory control design system generates a series of control commands to achieve a desired trajectory under various disturbances and vehicle model uncertainties including aerodynamic perturbations caused by geometric damage to the vehicle. Conventional approaches suffer from the nonlinearity of the MIMO system, and the high-dimensionality of the system state space. In this paper, we apply a Neural Dynamic Optimization (NDO) based approach to overcome these difficulties. The core of an NDO model is a multilayer perceptron (MLP) neural network, which generates the control parameters online. The advantage of the NDO system is that it is very fast and gives the trajectory almost instantaneously. The bulk of the time consuming computation is required only during off-line training. The inputs of the MLP are the time-variant states of the MIMO systems. The outputs of the MLP are the near optimal control parameters.
