Essays about: "Rörelseplanering"

Showing result 1 - 5 of 22 essays containing the word Rörelseplanering.

  1. 1. Data-Driven Reachability Analysis of Pedestrians Using Behavior Modes : Reducing the Conservativeness in Data-Driven Pedestrian Predictions by Incorporating Their Behavior

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

    Author : August Söderlund; [2023]
    Keywords : Data-driven reachability analysis; Autonomous vehicles; Automated safety; Autonomous situational awareness; Datadriven nåbarhetsanalys; Autonoma fordon; Automatiserad säkerhet; Autonom situationsmedvetenhet;

    Abstract : Predicting the future state occupancies of pedestrians in urban scenarios is a challenging task, especially considering that conventional methods need an explicit model of the system, hence introducing data-driven reachability analysis. Data-driven reachability analysis uses data, inherently produced by an unknown system, to perform future state predictions using sets, generally represented by zonotopes. READ MORE

  3. 2. Traction Adaptive Motion Planning for Autonomous Racing

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : Shekhar Raikar; [2022]
    Keywords : Autonomous vehicles; Motion planning and control; Traction-adaptive; Localization; Robotics; GPU Sampling; Augmented Real Time Iteration.; Autonoma fordon; Rörelseplanering och kontroll; Traction adaptiv; Lokalisering; Robotik; GPU Sampling Augmented Real Time Iteration;

    Abstract : Autonomous driving technology is continuously evolving at an accelerated pace. The road environment is always uncertain, which requires an evasive manoeuvre that an autonomous vehicle can take. READ MORE

  4. 3. Data-Driven Motion Planning : With Application for Heavy Duty Vehicles

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

    Author : Oscar Palfelt; [2022]
    Keywords : Motion planning; Deep learning; Autonomous driving; Nonuniform sampling; Rörelseplanering; Djupinlärning; Autonom körning; Ojämn provtagning;

    Abstract : Motion planning consists of finding a feasible path of an object between an initial state and a goal state, and commonly constitutes a sub-system of a larger autonomous system. Motion planners that utilize sampling-based algorithms create an implicit representation of the search space via sampling said search space. READ MORE

  5. 4. Real-time motion planning of 6 DOF Collaborative Robot

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

    Author : Seyedhesam Ahmadi; [2022]
    Keywords : Robotic manipulation; Motion planning; OMPL; MoveIt; UR5; KPIECE; PDST; EST.; Robotmanipulation; Rörelseplanering; OMPL; MoveIt; UR5; KPIECE; PDST; EST.;

    Abstract : Motion planning is an essential component of an autonomous system. This project aims to design a motion planning module to automate the screwing process of radio units. READ MORE

  6. 5. An input-sample method for zonotopic obstacle avoidance with discrete-time control barrier functions

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

    Author : Xiong Xiong; [2022]
    Keywords : Control barrier functions; RRT; Discrete-time Control barrier function; Input sample; Kontrollbarriärfunktion; RRT; diskret tid Kontrollbarriärfunktion; inmatningsprov;

    Abstract : In this thesis, we consider the motion planning problem for an autonomous vehicle in an obstacle-cluttered environment approximated by zonotopes, and we propose an input sampling algorithm leveraging discrete-time control barrier function conditions (DCBF). Specifically, an optimization-based control barrier function that takes into account the geometric shapes of the vehicle and obstacles is constructed and verified. READ MORE