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Path Following and Collision Avoidance for Quadcopters using Deep Reinforcement Learning
(Master thesis, 2022)Klassiske kontrollmetoder avhenger av nøyaktige modeller. Slike modeller eksisterer ikke alltid for komplekse systemer, og kontroll er begrenset til enkle oppgaver på lavt nivå. Modellfrie Reinforcement Learning (RL) ... -
Path Following and Collision Avoidance for an Underwater Swimming Manipulator
(Master thesis, 2018)The Underwater Swimming Manipulator (USM) is a new type of autonomous unmanned underwater vehicle that combines the highly maneuverable design of the biologically inspired underwater snake robot (USR) with thruster actuators ... -
Path Following and Collision Avoidance for Marine Vessels with Deep Reinforcement Learning
(Master thesis, 2019)Interessen for fullt autonome kjøretøy har økt raskt i løpet av de siste årene, motivert av løfter om økt effektivitet samt reduserte kostnader og miljøpåvirkning. Innenfor fartøystyring er kollisjonsunngåelse en viktig ... -
Path following control for articulated intervention-AUVs using geometric control of reduced attitude
(Journal article; Peer reviewed, 2019)An articulated intervention autonomous underwater vehicle (AIAUV) consists of the jointed body of a snake robot equipped with thrusters for hovering and faster propulsion. The slender, articulated body can be used as a ... -
Path Following Control for Underwater Swimming Manipulators Moving in 3D - Using Geometric Attitude Control
(Master thesis, 2018)The underwater swimming manipulator (USM) is a snake robot equipped with thrusters for faster propulsion or hovering. The entire articulated body of the USM can be used as a floating manipulator arm, and its slender build ... -
Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law
(IFAC Proceedings series;8th IFAC Symposium on Intelligent Autonomous Vehicles, Journal article, 2013)This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of ... -
Path following control of planar snake robots using a cascaded approach
(Journal article; Peer reviewed, 2012)This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller ... -
Path following control of planar snake robots using a cascaded approach
(Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes;, Journal article; Peer reviewed, 2010)This paper considers path following control of snake robots along straight paths. The proposed controller propels the snake robot forward according to the motion pattern lateral undulation while simultaneously adjusting ... -
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints
(Chapter, 2013)This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
(Journal article; Peer reviewed, 2014-08-28)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
(Journal article; Peer reviewed, 2014)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path following control of snake robots in unstructured environments
(Proceedings / IEEE International Conference on Robotics and Automation;, Journal article; Peer reviewed, 2011)As a step towards enabling snake robots to move in unstructured environments, this paper considers control strategies where environment adaptation is combined with directional control of snake robot locomotion. The first ... -
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances
(Chapter, 2019)An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ... -
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 ...