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Path Planning With Dynamic Obstacles And Resource Constraints
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Book Synopsis Path Planning with Dynamic Obstacles and Resource Constraints by : Alán Casea Cortez
Download or read book Path Planning with Dynamic Obstacles and Resource Constraints written by Alán Casea Cortez and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis considers path planning with resource constraints and dynamic obstacles for an unmanned aerial vehicle (UAV), modeled as a Dubins agent. Incorporating dynamic obstacles and resource constraints into the path planning problem designs a model that is more realistic of what an agent will encounter during its missions. A resource constraint is a path dependent load variable, such as noise or probability of detection by radar, that accrues as the agent moves towards the goal position. The resource constraint represents the total cumulative noise disturbance created by the UAV along its trajectory during flight in or around an urban area. By prescribing a maximum allowable cumulative noise disturbance, the UAV can be constrained to follow appropriate noise regulations while navigating in an urban environment. Hazards such as storms, turbulence, and ice are important to consider during the path planning stage as dynamic obstacles because these hazards can damage or destroy the UAV if encountered. These weather hazard dynamics can be recorded and learned and occur in a time-scale that is within the duration of the flight of the UAV. Incorporating these obstacles into the path planner can allow the agent to forecast how the weather will change and have it react accordingly. Obstacles such as other aerial vehicles that are handled by detect-and-avoid methods will not be looked at in this thesis. Dynamic obstacles can pose a challenge as the computation time and storage needed increases the longer it takes to find the path. Ice data from the Aviation Weather Service was employed to create training data sets for learning dynamic weather (ice) phenomena. Dynamic Mode Decomposition (DMD) was used to learn and propagate the evolution of ice conditions at flight level. These obstacles were integrated into a Hybrid $A^\star$ path-planner with backtracking to handle resource constraints. It is shown through numerical simulations that the agent is able to navigate around the dynamic obstacles to find the minimum time path to its goal. The use of Dynamic Mode Decomposition to predict and learn the dynamics of the ice hazards was a success in that it was able to recreate and construct the obstacles at future time steps.
Book Synopsis Motion Planning in Dynamic Environments by : Kikuo Fujimura
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Book Synopsis Planning Algorithms by : Steven M. LaValle
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Book Synopsis Advanced Path Planning for Mobile Entities by : Rastislav Róka
Download or read book Advanced Path Planning for Mobile Entities written by Rastislav Róka and published by BoD – Books on Demand. This book was released on 2018-09-26 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book Advanced Path Planning for Mobile Entities provides a platform for practicing researchers, academics, PhD students, and other scientists to design, analyze, evaluate, process, and implement diversiform issues of path planning, including algorithms for multipath and mobile planning and path planning for mobile robots. The nine chapters of the book demonstrate capabilities of advanced path planning for mobile entities to solve scientific and engineering problems with varied degree of complexity.
Book Synopsis Dynamic Data Driven Applications Systems by : Erik Blasch
Download or read book Dynamic Data Driven Applications Systems written by Erik Blasch and published by Springer Nature. This book was released on with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Neural Network Based Dynamic Path Planning for Obstacle Avoidance by : James Bertram Roberts
Download or read book Neural Network Based Dynamic Path Planning for Obstacle Avoidance written by James Bertram Roberts and published by . This book was released on 2000 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Nonholonomic Motion Planning by : Zexiang Li
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Book Synopsis Algorithmic Foundations of Robotics XI by : H. Levent Akin
Download or read book Algorithmic Foundations of Robotics XI written by H. Levent Akin and published by Springer. This book was released on 2015-04-30 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt: This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.
Book Synopsis Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) by : Yi Qu
Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) written by Yi Qu and published by Springer Nature. This book was released on with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Applied Genetic Algorithm and Its Variants by : Nilanjan Dey
Download or read book Applied Genetic Algorithm and Its Variants written by Nilanjan Dey and published by Springer Nature. This book was released on 2023-07-01 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides fundamental concepts related to various types of genetic algorithms and practical applications in various domains such as medical imaging, manufacturing, and engineering design. The book discusses genetic algorithms which are used to solve a variety of optimization problems. The genetic algorithms are demonstrated to offer reliable search in complex spaces. The book presents high-quality research work by academics and researchers which is useful for young researchers and students.
Book Synopsis Cooperative Path Planning of Unmanned Aerial Vehicles by : Antonios Tsourdos
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by John Wiley & Sons. This book was released on 2010-11-09 with total page 216 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.
Book Synopsis Dynamics and Control of Autonomous Space Vehicles and Robotics by : Ranjan Vepa
Download or read book Dynamics and Control of Autonomous Space Vehicles and Robotics written by Ranjan Vepa and published by Cambridge University Press. This book was released on 2019-05-02 with total page 371 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
Book Synopsis Distance Functions and Their Application to Robot Path Planning in the Presence of Obstacles by : Ekner G. Gilbert Daniel W. Johnson
Download or read book Distance Functions and Their Application to Robot Path Planning in the Presence of Obstacles written by Ekner G. Gilbert Daniel W. Johnson and published by . This book was released on 1984 with total page 40 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Guidance and Control of Ocean Vehicles by : Thor I. Fossen
Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.
Book Synopsis Algorithms and Architectures for Parallel Processing by : Zahir Tari
Download or read book Algorithms and Architectures for Parallel Processing written by Zahir Tari and published by Springer Nature. This book was released on with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Biomimetic Robotics by : Ranjan Vepa
Download or read book Biomimetic Robotics written by Ranjan Vepa and published by Cambridge University Press. This book was released on 2009-01-26 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is for a first course in robotics, especially in unmanned aerial or underwater vehicles.
