Sökning: "NMPC"
Visar resultat 1 - 5 av 11 uppsatser innehållade ordet NMPC.
1. Ensuring safe docking maneuvers on floating platform using Nonlinear Model Predictive Control (NMPC)
Master-uppsats, Luleå tekniska universitet/Institutionen för system- och rymdteknikSammanfattning : Docking maneuvers are a relevant part of the modern space mission, requiring precision and safety to ensure the success of the overall mission. This thesis proposes using a non-linear Model Predictive Control (MPC) as a controller with various constraints to ensure safe docking maneuvers for a satellite. LÄS MER
2. Multi-robot coordination and planning with human-in-the-loop under STL specifications : Centralized and distributed frameworks
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : Recent urbanization and industrialization have brought tremendous pressure and challenges to modern autonomous systems. When considering multiple complex tasks, cooperation and coordination between multiple agents can improve efficiency in a system. LÄS MER
3. Latency-aware edge server for safe autonomous driving
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : This thesis examines how a smart edge server, that communicates with autonomous vehicles in an intersection, could contribute to the safety of autonomous driving. Safe path planning is possible when an autonomous vehicle is aware of its surroundings such as obstacles, pedestrians, and other vehicles. LÄS MER
4. Path Following Model Predictive Control for Center-Articulated Vehicles
Master-uppsats, Uppsala universitet/Signaler och systemSammanfattning : Increased safety and productivity are driving factors for the trend in the mining industry where equipment and machines increasingly get automated. An example is the load-haul-dump vehicle, which is a machine that is used for transport of ore in underground mines. LÄS MER
5. Combined Control and Path Planning for a Micro Aerial Vehicle based on Non-linear MPC with Parametric Geometric Constraints
Master-uppsats, Luleå tekniska universitet/RymdteknikSammanfattning : Using robots to navigate through un-mapped environments, specially man-made infrastructures, for the purpose of exploration or inspection is a topic that has gathered a lot of interest in the last years. Micro Aerial Vehicles (MAV's) have the mobility and agility to move quickly and access hard-to-reach areas where ground robots would fail, but using MAV's for that purpose comes with its own set of problems since any collision with the environment results in a crash. LÄS MER