Sökning: "Sampling-based motion planner"

Hittade 5 uppsatser innehållade orden Sampling-based motion planner.

  1. 1. Planning Method for a Reversing Single Joint Tractor-Trailer System

    Master-uppsats, Linköpings universitet/Fordonssystem

    Författare :Ofa Ismail; [2021]
    Nyckelord :Motion planning; Local planing method; Reversing tractor-trailer; RRT; Rapidly-exploring Random Tree;

    Sammanfattning : This thesis investigates the design of a local planning method for a reversing single joint tractor-trailer system that can be used in a sampling-based motion planner. The motion planner used is a Rapidly-exploring Random Tree (RRT) developed by Scania. LÄS MER

  3. 2. 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

  4. 3. High-level Planning for Multi-agent System using a Sampling-based method

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

    Författare :Yan Feng Yu; Ziming Wang; [2020]
    Nyckelord :Motion planning; High-level motion planning; Sampling-based motion planner; RRT; Multi-agent system;

    Sammanfattning : One of the main focus of robotics is to integraterobotic tasks and motion planning, which has an increasedsignificance due to their growing number of application fieldsin transportation, navigation, warehouse management and muchmore. A crucial step towards this direction is to have robotsautomatically plan its trajectory to accomplish the given task. LÄS MER

  5. 4. Evaluation of Prediction Models in Trajectory Planning for Overtaking Maneuvers.

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Linda Truong; [2019]
    Nyckelord :;

    Sammanfattning : Developing autonomous overtaking could enhance safety by more accurate decision making of if, when and how to execute an overtaking and thereby decrease the collision risk caused by the human factor. Trajectory planning is a strategy to plan overtaking maneuvers, where a trajectory is defined as a path containing position, velocity and acceleration information along with time stamps. LÄS MER

  7. 5. Comparing different sampling-based motion planners in multiple configuration spaces

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

    Författare :Lars Lundin; Carl Dath; [2018]
    Nyckelord :;

    Sammanfattning : A lot of tasks in our society can be automatized through the use of motion planners. One approach of motion planning is known as sampling-based motion planning. LÄS MER