Browsing Institutt for teknisk kybernetikk by Title
Now showing items 2609-2628 of 3691
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Path Following in Simulated Environments using the A3C Reinforcement Learning Method
(Master thesis, 2018)Using reinforcement learning as a part of a Guidance, Navigation and Control (GNC) system is a relatively unexplored field. This thesis explores the use of deep reinforcement learning in a path following control algorithm ... -
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents
(Journal article; Peer reviewed, 2012)A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and ... -
Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents
(Journal article; Peer reviewed, 2014)This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ... -
Path Following of Underactuated Marine Vessels in the Presence of Ocean Currents
(Master thesis, 2013)The use of marine vessels, especially underwater vehicles, is rapidly increasing. Autonomous marine vehicles are a huge focus area within the oil and gas industry, and can also be utilized for scientific, environmental and ... -
Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents
(Chapter, 2015)This paper considers straight-line path following for inhomogeneous formations with underactuated agents. The formation can be comprised of agents with different dynamics that are each affected by a different unknown ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
(Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
Path Generation and Spline Approximation of a 3D Extended Dubins Path
(Master thesis, 2021)En viktig egenskap som muliggjør autonom flygning av ubemannede fartøy (UAV) er automatisk baneplanlegging. Dette arbeidet tar for seg problemet med å generere en tredimensjonal bane, fra en sekvens av veipunkter, som tar ... -
Path planning and collision avoidance for autonomous surface vehicles I: a review
(Journal article; Peer reviewed, 2021)Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised the interest in developing methods for path planning that can reduce ... -
Path planning and collision avoidance for autonomous surface vehicles II: a comparative study of algorithms
(Journal article; Peer reviewed, 2021)Artificial intelligence is an enabling technology for autonomous surface vehicles, with methods such as evolutionary algorithms, artificial potential fields, fast marching methods, and many others becoming increasingly ... -
Path Planning and Guidance for Marine Surface Vessels
(Master thesis, 2013)Path planning and guidance for marine surface vesselsis the main topic of this thesis. The subject is of great relevance both for unmanned surface vehicles (USV) and for autopilot systems for manned vessels.A general ... -
Path Planning and Obstacle Avoidance for Marine Vessels Using the Deep Deterministic Policy Gradient Method
(Master thesis, 2019)Med autonomi som et av hovedfokusene innen utviklingen av den maritime industrien er dokking-fasen et aspekt av et fullt autonomt fartøy som ennå ikke er utforsket fullt ut. På grunn av manøvreres kompleksitet er det ... -
Path planning for a telescopic boom lift robot
(Master thesis, 2022)Denne oppgaven presenterer fem ulike algoritmer for en teleskopisk bom lift. Liften vasker en to dimensjonal overflate med en mindre robot arm montert på liften. Robotarmen har et arbeidsområde på en sirkel. Hovedproblemet ... -
Path Planning for Fixed-Wing UAVs in Wind and Icing Conditions
(Master thesis, 2021)Ubemannede fly (UAV) har en rekke anvendelser, som levering av varer, kartlegging, og søk og redning i områder som er utilgjengelige for mennesker. Det er imidlertid flere utfordringer knyttet til utbredt bruk av UAV-er ... -
Path Planning for Formation Control of Autonomous Vehicles
(Chapter, 2016)In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point ... -
Path Planning for Multi-Rotor Unmanned Aerial Vehicles (UAVs) Operating in Known Confined Space
(Master thesis, 2022)Denne masteroppgaven anser et bruksområde hvor en multi-rotor inspeksjons dronen autonomt skal inspisere et sett med punkter inne i en ballast tank på et skip. For å oppnå dette, så er et av de første stegene å implementere ... -
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion
(Chapter, 2020)Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ... -
Path Planning for Search and Rescue Mission using Multicopters
(Master thesis, 2014)This thesis considers path planning for a low-cost multicopter used in the searchpart of a search and rescue mission. Search patterns or trajectories are consideredand evaluated through simulations in MATLAB. How to place ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
(Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
(Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Path Planning for UGVs Based on Traversability Hybrid A*
(Peer reviewed; Journal article, 2021)In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ...