Essays about: "Nonholonomic"

Showing result 1 - 5 of 9 essays containing the word Nonholonomic.

1. 1. GPU-Based Path Optimization Algorithm in High-Resolution Cost Map with Kinodynamic Constraints : Using Non-Reversible Parallel Tempering

   University essay from Karlstads universitet/Fakulteten för hälsa, natur- och teknikvetenskap (from 2013)

   Author : Daniel Greenberg; [2023]
   Keywords : ;

   Abstract : This thesis introduces a GPU-accelerated algorithm for path planning under kinodynamic constraints, focusing on navigation of flying vehicles within a high-resolution cost map. The algorithm operates by creating dynamically feasible initial paths, and a non-reversible parallel tempering Markov chain Monte Carlo scheme to optimize the paths while adhering to the nonholonomic kinodynamical constraints. READ MORE

3. 2. Localization For AutonomousDriving using Statistical Filtering : A GPS aided navigation approach with EKF and UKF

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Devrat Singh; [2022]
   Keywords : Land Vehicle Localization; Sensor Fusion; GNSS-INS Fusion; UKF; EKF;

   Abstract : A critical requirement for safe autonomous driving is to have an accurate state estimate of thevehicle. One of the most ubiquitous yet reliable ways for this task is through the integrationof the onboard Inertial Navigation System (INS) and the Global Navigation Satellite System(GNSS). READ MORE

4. 3. Cooperative Control of Autonomous Ground Vehicles

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Mohammed Akif; Sebastian Geivald; [2021]
   Keywords : Trajectory tracking; Formation control; Collision avoidance; multi-agent system; Autonomous ground vehicles;

   Abstract : As autonomous ground vehicles grow in popularity,it is of interest to study how they could coordinate together andhow the technical systems can be implemented in a safe andeffective manner. The objective of this report is to examine howto autonomously move a formation of vehicles without collisionswith obstacles or other vehicles. READ MORE

5. 4. Steering Method for Nonholonomic Motion Planning based on Quadratic Programming and Differential Flatness

   University essay from KTH/Optimeringslära och systemteori

   Author : Marcus Norgren; [2021]
   Keywords : ;

   Abstract : In this thesis, an optimization based steering methods based on differential flatness and quadratic programming has been investigated. The method has been implemented into an RRT*-planner and tested in simulation. READ MORE

6. 5. Motion Planning for Parking a Truck and Trailer System

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Karl Kvarnfors; [2019]
   Keywords : ;

   Abstract : Motion planning for autonomous heavy vehicles has been an intensively studied topic during the last years. In particular, real-world applicable motion planning schemes for truck-trailer systems have emerged and several continuous-curvature local planners for nonholonomic vehicles have been conceived. READ MORE