Sökning: "local motion planner"

Visar resultat 1 - 5 av 8 uppsatser innehållade orden local 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. Analys av metoder för lokal rörelseplanering

    Uppsats för yrkesexamina på grundnivå, Örebro universitet/Institutionen för naturvetenskap och teknik

    Författare :Zozk Mohamed; [2021]
    Nyckelord :Motion planning; local motion planner; dynamic window approach; dwa; elastic band; eband; timed elastic band; teb; autonomous mobile robot; Rörelseplanering; lokal rörelseplanerare; dynamic window approach; dwa; elastic band; eband; timed elastic band; teb; självstyrd mobil robot;

    Sammanfattning : Under senare år har vi med hjälp av robotar som använder rörelseplanering kunnat automatisera olika processer och uppgifter. Idag finns det väldigt få strategier för lokal rörelseplanering vid jämförelse med global rörelseplanering. LÄS MER

  4. 3. GPU-Assisted Collision Avoidance for Trajectory Optimization : Parallelization of Lookup Table Computations for Robotic Motion Planners Based on Optimal Control

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

    Författare :Abhiraj Bishnoi; [2021]
    Nyckelord :Motion Planning; Robotics; Trajectory Optimization; GPGPU; Parallel Programming;

    Sammanfattning : One of the biggest challenges associated with optimization based methods forrobotic motion planning is their extreme sensitivity to a good initial guess,especially in the presence of local minima in the cost function landscape.Additional challenges may also arise due to operational constraints, robotcontrollers sometimes have very little time to plan a trajectory to perform adesired function. LÄS MER

  5. 4. Traction Adaptive trajectory planning for autonomous racing

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Felicia Aboud Vieider; Anirudh Narasimha Kulkarni; [2020]
    Nyckelord :;

    Sammanfattning : The autonomous driving industry has undergone leaps and bounds of research to reach the mainstream market, with major players investing heavily to improve the technology further. Industry and academia are currently working to make the technology safe, reliable and robust. LÄS MER

  7. 5. MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots

    Master-uppsats, KTH/Mekatronik

    Författare :Jon Arrizabalaga Aguirregomezcorta; [2020]
    Nyckelord :Mobile robots; differential drive; caster wheels; motion planning; MPC; Mobila robotar; differentiell drivning; hjul; rörelseplanering; MPC;

    Sammanfattning : The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. LÄS MER