國立虎尾科技大學 |

Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments./
作者:	Kunwar, Faraz Ahmed.
面頁冊數:	1 online resource (139 pages)
附註:	Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3810.
Contained By:	Dissertation Abstracts International69-06B.
標題:	Mechanical engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9780494398753

Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments.
Kunwar, Faraz Ahmed.

Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments. - 1 online resource (139 pages)

Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3810.

Thesis (Ph.D.)--University of Toronto (Canada), 2008.

Includes bibliographical references

Real-time motion-planning in autonomous vehicle navigation applications has typically referred to the on-line trajectory-planning problem to reach a designated location in minimal time. In this context, past research achievements have been subjected to three main limitations: (i) only the problem of interception (position matching) has been considered, whereas the problem of rendezvous (velocity matching) has not been rigorously investigated; (ii) obstacles have been commonly treated as moving with constant velocity as opposed to being highly maneuverable and following a priori unknown trajectories; and, (iii) mostly, structured indoor terrains have been considered.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780494398753Subjects--Topical Terms:

557493
Mechanical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments.
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245 1 0 $a Prediction based guidance for real-time navigation of mobile robots in dynamic cluttered environments.
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300 $a 1 online resource (139 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3810.
502 $a Thesis (Ph.D.)--University of Toronto (Canada), 2008.
504 $a Includes bibliographical references
520 $a Real-time motion-planning in autonomous vehicle navigation applications has typically referred to the on-line trajectory-planning problem to reach a designated location in minimal time. In this context, past research achievements have been subjected to three main limitations: (i) only the problem of interception (position matching) has been considered, whereas the problem of rendezvous (velocity matching) has not been rigorously investigated; (ii) obstacles have been commonly treated as moving with constant velocity as opposed to being highly maneuverable and following a priori unknown trajectories; and, (iii) mostly, structured indoor terrains have been considered.
520 $a This Thesis addresses the abovementioned drawbacks by proposing the use of a novel advanced guidance-based rendezvous methodology in allowing an autonomous vehicle to accurately and safely maneuver in the presence of dynamic obstacles on realistic terrains. The objective is time-optimal rendezvous with static or dynamic targets.
520 $a The proposed on-line motion-planning method minimizes rendezvous time with the target, as well as energy consumption, by directly considering the dynamics of the obstacles and the target, while accurately determining a feasible way to travel through an uneven terrain. This objective is achieved by determining rendezvous maneuvers using the Advanced Predictive Guidance (APG) law. Namely, the navigation method is designed to effectively cope with maneuvering targets/obstacles by predicting their future velocities and accelerations. The terrain navigation algorithm, also developed within the framework of this Thesis, computes a safe path through a realistic terrain that also minimizes the rendezvous time. All developed algorithms are seamlessly integrated into one overall vehicle guidance algorithm.
520 $a Extensive simulation and experimental analyses, some of which are reported herein, have clearly demonstrated the time efficiency of the proposed rendezvous method on realistic terrains as well as the robustness of the proposed algorithm to measurement noise.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 557493
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
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710 2 $a University of Toronto (Canada). $3 1182602
773 0 $t Dissertation Abstracts International $g 69-06B.
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