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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 ... -
Path Planning for Vehicle Motion Control Using Numerical Optimization Methods
(Master thesis, 2015)Path planning is an important part of many systems, especially autonomous systems. Finding the optimal paths for various vehicles, given different optimization criteria such as the shortest, fastest, straightest or ... -
Path planning for wave-powered unmanned surface vehicle based on electronic navigational charts and weather data
(Master thesis, 2022)Denne masteroppgaven gjør rede for utviklingen og implementasjonen av en stifinner for en USV som drives av bølgekraft. USVen, NTNU AutoNaut, er en del av et forskningsprosjekt på NTNU i Trondheim. Stifinning for AutoNaut ... -
Path planning of a nRF52850 robot: return home without server input
(Master thesis, 2023)Denne oppgaven er skrevet som en del av et større prosjekt, kalt SLAM Robot Project, som har et overordnet mål om å bruke flere samarbeidene roboter til å utforske og kartlegge et ukjent område. Hovedformålet med denne ... -
Path Planning of Multi-UAS Communication Relay by Decentralized MPC
(Chapter, 2018)When using Autonomous Surface Vehicles (ASV) in marine operations, long distances and/or low power transmissions may severely limit the communication between the ASV and the ground station. One solution to overcome this ... -
Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators
(Master thesis, 2011)Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are ... -
Path-following and Collision Avoidance using World Models
(Master thesis, 2023)Denne masteroppgaven presenterer en applikasjon av den modellbaserte forsterkningslæringsagen- ten DreamerV2 for banefølging og kollisjonsunngåelse med autonome overflatsfartøy. Fartøyet lærer gjennom interaksjon med ... -
Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs
(Doctoral theses at NTNU;2018:185, Doctoral thesis, 2018)Summary This thesis is motivated by the growing usage of autonomous underwater vehicles (AUVs) and, particularly, how providing them with the ability to reach and dock onto underwater docking stations can positively impact ... -
Path-searching for Rolling Motion of the Two-Link Acrobot With Curved Links
(Master thesis, 2012)Mathematical models are designed for the Acrobot with Curved Links. From these models, the reduced system dynamics are derived, and used for a numerical search routine which aims to find a closed trajectory of a rolling ... -
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters
(Peer reviewed; Journal article, 2020)A deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that ... -
Pathfinding through conformal mapping
(Master thesis, 2019)I denne oppgaven er konforme avbildninger er brukt for å løse stifinningsproblemer. Ved å konformt transformere 2D planet til en enklere representasjon, blir kostnaden av å gjennomføre stifinning redusert. Hovedfordelen ... -
Pathfinding with Obstacle Avoidance using a Genetic Algorithm
(Master thesis, 2013)In this paper a trajectory planner for a 3D obstacle avoidance problem was researched and implemented. The resulting choice was based on results gathered from implementing a Genetic algorithm on a simplified 2D problem in ... -
Pattern recognition reveals characteristic postprandial glucose changes: Non-individualized meal detection in diabetes mellitus type 1
(Journal article; Peer reviewed, 2019)Accurate continuous glucose monitoring (CGM) is essential for fully automated glucose control in diabetes mellitus type 1. State-of-the-art glucose control systems automatically regulate the basal insulin infusion. Users ... -
Pålitelighet av mennesket i sikkerhetskritiske operasjoner
(Master thesis, 2009)Menneskelige feil under sikkerhetskritiske operasjoner kan få fatale følger og fantastiske økonomiske konsekvenser. Mennesket står for over 80-90% av alle ulykker, og bedrifter over hele verden har måttet kaste inn håndkle ... -
Penalty Function Approaches for Proactive Fault-Tolerant Model Predictive Control
(Master thesis, 2015)In the event of actuator faults in systems, standard control algorithms might not be sufficient for stabilizing the system and keeping the performance at an accept- able level. Because of this, fault-tolerant control methods ... -
Perception and High-Level Control for Autonomous Drone Missions
(Master thesis, 2021)Denne oppgaven presenterer et autonomt drone-system som muliggjør for en drone å gjennomføre autonome oppdrag som starter og slutter på en bestemt landingsplattform. En tilstandsestimeringsalgorimte er laget for å estimere ... -
Perception for obstacle-aided locomotion of snake robots
(Master thesis, 2017)The goal of this project was to provide an obstacle-aided snake robot with improved perceptual capability. This implies ensuring that objects located in the snakes' close proximity get a high resolution digital representation. ... -
Perception-Driven Obstacle-Aided Locomotion for snake robots, linking virtual to real prototypes
(Master thesis, 2017)Snake robots have the potential to be used for many tasks where maneuvering through narrow and uneven terrain is necessary. Examples of such tasks include search-and-rescue missions, firefighting and pipe inspection. Real ... -
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities
(Journal article; Peer reviewed, 2017)In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that ...