Sökning: "Optimal Banplanering"

Visar resultat 1 - 5 av 9 uppsatser innehållade orden Optimal Banplanering.

  1. 1. Optimization-Based Path Planning For Indoor UAVs in an Autonomous Exploration Framework

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Marco Cella; [2023]
    Nyckelord :Optimal Path Planning; B-Splines; Autonomous Exploration; Indoor UAV; Crisis and Disaster Management; Trajectory Estimation; SITL; Optimal Banplanering; B-Splines; Autonom Utforskning; Inomhus-UAV; Kris- och Katastrofhantering; Uppskattning av Banor; SITL;

    Sammanfattning : Exploration is a fundamental problem in robotics that requires robots to navigate through unknown environments to autonomously gather information about their surroundings while executing collision-free paths. In this project, we propose a method for producing smooth paths during the exploration process in indoor environments using UAVs to improve battery efficiency and enhance the quality of pose estimation. LÄS MER

  3. 2. Path and Route Planning for Indoor Monitoring with UAV : An Evaluation of Algorithms for Time-constrained Path and Route Planning in an Indoor Environment with Several Waypoints and Limited Battery Time

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Ola Johansson; [2022]
    Nyckelord :UAV; path planning; route planning; drone; combinatorial optimization; Ruttplanering; banplanering; vägplanering drönare; kombinatorisk optimisering;

    Sammanfattning : Unmanned flying vehicles (UAVs) are tools that can be used in a variety of scenarios. The most common areas of application are outdoors, where there are not many obstacles to take into consideration when planning a route. LÄS MER

  4. 3. Motion Planning Framework for Unmanned Aerial Vehicles in Dynamic Environments

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Yufei Zhu; [2021]
    Nyckelord :Motion planning; Dynamic environments; Unmanned aerial vehicle; Banplanering; Dynamiska miljöer; Obemannade luftfarkoster;

    Sammanfattning : The usage of Unmanned Aerial Vehicles (UAVs) to navigate autonomously in a dynamic environment is becoming more common. It is important that a UAV can generate collision-free trajectories and also be able to modify them to adapt to environment changes over the entire duration of navigation. LÄS MER

  5. 4. Stochastic Model Predictive Control for Trajectory Planning

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Marti Fernandez-Real; [2020]
    Nyckelord :Autonomous Driving; Model Predictive Control; Stochastic Model Predictive Control; Trajectory Planning; Uncertainty; Road Crosswind;

    Sammanfattning : Trajectory planning constitutes an essential step for proper autonomous vehicles’performance. This work aims at defining and testing a stochastic approach providingsafe, length-optimal and comfortable trajectories accounting for road, model anddisturbance uncertainties. LÄS MER

  7. 5. Trajectory Planning for Four WheelSteering Autonomous Vehicle

    Master-uppsats, KTH/Fordonsdynamik

    Författare :Zexu Wang; [2018]
    Nyckelord :trajectory planning; frenet frame; MPC; 4WS; banplanering; Frenet-ram; MPC; 4WS ii;

    Sammanfattning : This thesis work presents a model predictive control (MPC) based trajectory planner forhigh speed lane change and low speed parking scenarios of autonomous four wheel steering(4WS) vehicle. A four wheel steering vehicle has better low speed maneuverabilityand high speed stability compared with normal front wheel steering(FWS) vehicles. LÄS MER