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Manoeuvring unmanned vehicles throug...

University of Calgary (Canada).

Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control./
作者:	Jansen, Franciscus Frank Arnoldus Nicolaas.
面頁冊數:	143 p.
附註:	Source: Masters Abstracts International, Volume: 50-04, page: 2640.
Contained By:	Masters Abstracts International50-04.
標題:	Engineering, Aerospace. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR81927
ISBN:	9780494819272

Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control.
Jansen, Franciscus Frank Arnoldus Nicolaas.

Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control. - 143 p.

Source: Masters Abstracts International, Volume: 50-04, page: 2640.

Thesis (M.Sc.)--University of Calgary (Canada), 2011.

Current Unmanned Vehicle (UV) navigation systems are capable of navigating UVs through cluttered environments. However, these systems fail to manoeuvre vehicles through highly confined environments (environments with a higher density of obstalces then cluttered environments) because they do not explicitly consider the geometry and the dynamic characteristics and constraints of the vehicle in the navigation task.

ISBN: 9780494819272Subjects--Topical Terms:

845476
Engineering, Aerospace.

Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control.
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245 1 0 $a Manoeuvring unmanned vehicles through confined three-dimensional environments using Model Predictive Control.
300 $a 143 p.
500 $a Source: Masters Abstracts International, Volume: 50-04, page: 2640.
500 $a Adviser: Alejandro Ramirez-Serrano.
502 $a Thesis (M.Sc.)--University of Calgary (Canada), 2011.
520 $a Current Unmanned Vehicle (UV) navigation systems are capable of navigating UVs through cluttered environments. However, these systems fail to manoeuvre vehicles through highly confined environments (environments with a higher density of obstalces then cluttered environments) because they do not explicitly consider the geometry and the dynamic characteristics and constraints of the vehicle in the navigation task.
520 $a This thesis presents a novel methodology that enables the navigation of UVs in confined 2D and 3D complex environments. The proposed approach employs a plan globally, react locally hybrid manoeuvring architecture in combination with a Model Predictive Control (MPC) methodology. This approach allows for a modular approach to navigation applicable to any UV. The use of MPC enables the integration of the UV's dynamic characteristics and constraints as well as the geometry of any UV in the navigation task. Simulation results in 2D and 3D environments for a number of vehicles are presented to demonstrate the applicability of the proposed approach.
590 $a School code: 0026.
650 4 $a Engineering, Aerospace. $3 845476
650 4 $a Engineering, Mechanical. $3 845387
650 4 $a Artificial Intelligence. $3 646849
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710 2 $a University of Calgary (Canada). $3 845699
773 0 $t Masters Abstracts International $g 50-04.
790 1 0 $a Ramirez-Serrano, Alejandro, $e advisor
790 $a 0026
791 $a M.Sc.
792 $a 2011
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