Essays about: "unicycle"

Showing result 1 - 5 of 10 essays containing the word unicycle.

  1. 1. Neural Network Based Control Design for a Unicycle System

    University essay from Linköpings universitet/Reglerteknik

    Author : Axel Ek; [2023]
    Keywords : ;

    Abstract : Physics-based models of dynamical systems can take a lot of time and be hard to derive, and there will always be some effect that was not added to the calculations, like aerodynamic-, gyroscopic- or frictional- effects. Calculating all these effects takes time and a lot of knowledge of the system dynamics. READ MORE

  3. 2. 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

  4. 3. Robot Control Using Path Integral Policy Improvement and Deep Dynamics Models

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

    Author : Haoxiang Shi; [2021]
    Keywords : Path integral policy improvement; Model predictive control; Deep dynamics model; Signal temporal logic; Path planning; Vägförbättrad policy förbättring; modellprädiktive kontroll; djup dynamik modell; signal temporal logik; banplanering;

    Abstract : Robotics is an interdisciplinary field that integrates computer science, electrical engineering, mechanical engineering, control engineering and other related fields. As the quick development of these fields, people have been building more complex robots with more advanced control strategies in order to solve more challenging tasks. READ MORE

  5. 4. Trajectory Tracking, Formation Control and Obstacle Avoidance for Autonomous Ground Vehicles

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

    Author : Billy Jie Lu; Michael Bettar; [2020]
    Keywords : Autonomous ground vehicles; Unicycle; Trajec-tory tracking; Formation Control; Collision avoidance;

    Abstract : The usage of autonomous ground vehicles is growingextensively. Therefore, it is important to gain a better understand-ing for the fundamentals of their communication network. Inthis paper, three important areas will be considered: Trajectorytracking, formation control and collision avoidance. READ MORE

  6. 5. Motion planning for an AGV fleet in a logistics scenario

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

    Author : Maxime Sainte Catherine; [2020]
    Keywords : ;

    Abstract : As warehouses are becoming more autonomous the number of Autonomous Guided Vehicles (AGV) increases. Ensuring that the motion planning is safe despite the large number of agents and despite sharing the workspace with humans is the problem we tackle in this thesis. READ MORE