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Navigation Solution For The Texas A M Autonomous Ground Vehicle
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Book Synopsis Navigation Solution for the Texas A & M Autonomous Ground Vehicle by : Craig Allen Odom
Download or read book Navigation Solution for the Texas A & M Autonomous Ground Vehicle written by Craig Allen Odom and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The need addressed in this thesis is to provide an Autonomous Ground Vehicle (AGV) with accurate information regarding its position, velocity, and orientation. The system chosen to meet these needs incorporates (1) a differential Global Positioning System, (2) an Inertial Measurement Unit consisting of accelerometers and angular-rate sensors, and (3) a Kalman Filter (KF) to fuse the sensor data. The obstacle avoidance software requires position and orientation to build a global map of obstacles based on the returns of a scanning laser rangefinder. The path control software requires position and velocity. The development of the KF is the major contribution of this thesis. This technology can either be purchased or developed, and, for educational and financial reasons, it was decided to develop instead of purchasing the KF software. This thesis analyzes three different cases of navigation: one-dimensional, two dimensional and three-dimensional (general). Each becomes more complex, and separating them allows a three step progression to reach the general motion solution. Three tests were conducted at the Texas A & M University Riverside campus that demonstrated the accuracy of the solution. Starting from a designated origin, the AGV traveled along the runway and then returned to the same origin within 11 cm along the North axis, 19 cm along the East axis and 8 cm along the Down axis. Also, the vehicle traveled along runway 35R which runs North-South within 0.1°, with the yaw solution consistently within 1° of North or South. The final test was mapping a box onto the origin of the global map, which requires accurate linear and angular position estimates and a correct mapping transformation.
Book Synopsis Control and Waypoint Navigation of an Autonomous Ground Vehicle by : James Patrick Massey
Download or read book Control and Waypoint Navigation of an Autonomous Ground Vehicle written by James Patrick Massey and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes the initial development of the Texas A & M AutonomousGround Vehicle test platform and waypoint following software, including the associatedcontroller design. The original goal of the team responsible for the development of the vehicle was to enter the DARPA Grand Challenge in October 2005. A 2004 Ford F150 4x4 pickup was chosen as the vehicle platform and was modified with a 6" suspensionlift and 35" tires, as well as a commercial drive-by-wire system. The waypoint followingsoftware, the design of which is described in this thesis, is written in C and successfullydrives the vehicle on a course defined by GPS waypoints at speeds up to 50 mph. It uses various heuristics to determine desired speeds and headings and uses control feedback to guide the vehicle towards these desired states. A vehicle dynamics simulator was also developed for software testing. Ultimately, this software will accept commands from advanced obstacle avoidance software so that the vehicle can navigate in true off-road terrain.
Book Synopsis Vision-Based Navigation for Autonomous Ground Vehicles by :
Download or read book Vision-Based Navigation for Autonomous Ground Vehicles written by and published by . This book was released on 1988 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contents: Facility; The Maryland Visual Navigation System; System Architecture; System Modules; Image Processing; Visual Knowledge Base; Geometry; Vision Executive; 3-D Representation; Predictor; Sensor Control; Navigator; Pilot; Planner; Technical Reports. (FR).
Book Synopsis Vision-based Navigation for Autonomous Ground Vehicles. Final Report by : Larry S. Davis
Download or read book Vision-based Navigation for Autonomous Ground Vehicles. Final Report written by Larry S. Davis and published by . This book was released on 1992 with total page 83 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Special Issue on Industrial Applications of Pulsed Power and Plasma Technologies by :
Download or read book Special Issue on Industrial Applications of Pulsed Power and Plasma Technologies written by and published by . This book was released on 2007 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision-based Navigation for Autonomous Ground Vehicles by : Larry S. Davis
Download or read book Vision-based Navigation for Autonomous Ground Vehicles written by Larry S. Davis and published by . This book was released on 1989 with total page 36 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision-Based Navigation for Autonomous Ground Vehicles by : Larry S. Davis
Download or read book Vision-Based Navigation for Autonomous Ground Vehicles written by Larry S. Davis and published by . This book was released on 1988 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contents: Facility; The Maryland Visual Navigation System; System Architecture; System Modules; Image Processing; Visual Knowledge Base; Geometry; Vision Executive; 3-D Representation; Predictor; Sensor Control; Navigator; Pilot; Planner; Technical Reports. (FR).
Book Synopsis Vision-based Navigation for Autonomous Ground Vehicles - 1986 Annual Report by : Larry S. Davis
Download or read book Vision-based Navigation for Autonomous Ground Vehicles - 1986 Annual Report written by Larry S. Davis and published by . This book was released on 1986 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Integrated Inertial Navigation System and Global Positioning System for the Navigation of an Autonomous Ground Vehicle by : Jeffrey S. Wit
Download or read book Integrated Inertial Navigation System and Global Positioning System for the Navigation of an Autonomous Ground Vehicle written by Jeffrey S. Wit and published by . This book was released on 1996 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :University of Maryland at College Park. Dept. of Computer Science Publisher : ISBN 13 : Total Pages :39 pages Book Rating :4.:/5 (169 download)
Book Synopsis A Visual Navigation System for Autonomous Land Vehicles by : University of Maryland at College Park. Dept. of Computer Science
Download or read book A Visual Navigation System for Autonomous Land Vehicles written by University of Maryland at College Park. Dept. of Computer Science and published by . This book was released on 1985 with total page 39 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Computer Vision Laboratory at the University of Maryland has developed a modular system architecture to support visual navigation by an autonomous land vehicle. The system consists of vision modules performing image processing, 3-D shape recovery, and rule-based reasoning, as well as modules for planning, navigating, and piloting. Keywords include: Computer vision, Image processing, Autonomous navigation, Road following, and Rule-based reasoning.
Book Synopsis Vector Pursuit Path Tracking for Autonomous Ground Vehicles by : Jeffrey S. Wit
Download or read book Vector Pursuit Path Tracking for Autonomous Ground Vehicles written by Jeffrey S. Wit and published by . This book was released on 2000 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :United States. Office of Coal, Nuclear, Electric, and Alternate Fuels Publisher : ISBN 13 : Total Pages :94 pages Book Rating :4.:/5 (14 download)
Book Synopsis Coal Data by : United States. Office of Coal, Nuclear, Electric, and Alternate Fuels
Download or read book Coal Data written by United States. Office of Coal, Nuclear, Electric, and Alternate Fuels and published by . This book was released on 1987 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Guidance Navigation and Control Implementation for Unmanned Ground Vehicle Using NI-myRIO by : Ishwarya Shrinivasan
Download or read book Guidance Navigation and Control Implementation for Unmanned Ground Vehicle Using NI-myRIO written by Ishwarya Shrinivasan and published by . This book was released on 2016 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research effort aims at investigating alternative real-time implementation software and hardware for Guidance, Navigation and Control (GNC) algorithms for an Unmanned Ground Vehicle (UGV). A GNC algorithm was previously developed for a skid-steered tracked UGV to go through assigned waypoints based on encoder counts. The UGV has two electric motors driving the tracks on each side and two encoders providing the speeds of the drive wheels. This algorithm was implemented using Matlab/Simulink-based model running on a mini computer, interfacing with the electric motors and encoders through a speciality control board. This current e ort is to implement the same GNC algorithm for the same UGV, but using LabVIEW, a graphical programming environment by NI (National Instrument Corporation) for programming the GNC algorithm and NI-myRIO, an embedded hardware device, for running the LabVIEW-based GNC algorithm and interfacing with the electric motors and encoders. A kinematic model of the UGV is also developed in LabVIEW and a closed loop simulation with the GNC-algorithm is carried out. The LabVIEW-based simulation results are compared with the Matlab/Simulink-based simulation to verify the accuracy of the GNC implementation in LabVIEW. Then, the NI-myRIO running the GNC-algorithm is used to carry out experiments of the UGV going through speci ed waypoints. Based on this overall project, the LabVIEW and NI-myRIO solutions is found to be user-friendly and very effective and reliable for the purpose of realtime implementation of GNC algorithms.
Book Synopsis Autonomous land vehicle navigation and steering control concepts and sensors, AIAA, Guidance, navigation and Control Conference, Williamsburg, VA, Aug. 18-20, 1986, 11 p by : S. J. Fujikawa
Download or read book Autonomous land vehicle navigation and steering control concepts and sensors, AIAA, Guidance, navigation and Control Conference, Williamsburg, VA, Aug. 18-20, 1986, 11 p written by S. J. Fujikawa and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Cross Country Navigation Technologies by :
Download or read book Autonomous Cross Country Navigation Technologies written by and published by . This book was released on 1996 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt: Documents work done on a project to evolve sensors and algorithms for autonomous cross-country navigation of an unmanned ground vehicle for military applications. The project was designed in three phases: development of a low performance system; porting of stereo vision to a mission computer cluster; and porting of navigation software to the cluster and demonstration of a combined system. The final system used stereo vision and previously developed navigation software to achieve speeds on the order of five miles per hour. This document includes details on: the organization of the computers, sensors, and actuators for each phase; the software used to control the vehicle; the software used to process the images from the stereo cameras on the vehicle; and a preliminary design for a stereo vision system to be implemented on a generic cross-country vehicle, including requirements for sensing and computing. Concludes with important lessons learned from the project, plus recommendations for the future.
Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Download or read book Computer & Control Abstracts written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
