Engineering Commons^™

Hybrid Feedback Control For Autonomous Robot Navigation With Obstacle Avoidance, Mayur Sanjay Sawant

Electronic Thesis and Dissertation Repository

This thesis provides some hybrid feedback based autonomous navigation algorithms. First, the problem of autonomous robot navigation in planar environments with arbitrarily-shaped convex obstacles is considered. The proposed navigation approach guarantees safe and global convergence to the target location through an appropriately designed switching strategy between two different modes, namely, the move-to-target mode and the obstacle-avoidance mode. A procedure for the implementation of the proposed hybrid feedback controller in a priori unknown environments is provided.

Subsequently, the problem of autonomous navigation in planar environments with non-convex obstacles is considered. An instrumental transformation that modifies (virtually) the non-convex obstacles, in a …

Enabling Autonomous Operation Of Micro Aerial Vehicles Through Gps To Gps-Denied Transitions, James Scott Jackson

Theses and Dissertations

Micro aerial vehicles and other autonomous systems have the potential to truly transform life as we know it, however much of the potential of autonomous systems remains unrealized because reliable navigation is still an unsolved problem with significant challenges. This dissertation presents solutions to many aspects of autonomous navigation. First, it presents ROSflight, a software and hardware architure that allows for rapid prototyping and experimentation of autonomy algorithms on MAVs with lightweight, efficient flight control. Next, this dissertation presents improvments to the state-of-the-art in optimal control of quadrotors by utilizing the error-state formulation frequently utilized in state estimation. It is …

High-Performance Testbed For Vision-Aided Autonomous Navigation For Quadrotor Uavs In Cluttered Environments, Shakeeb Ahmad

Electrical and Computer Engineering ETDs

This thesis presents the development of an aerial robotic testbed based on Robot Operating System (ROS). The purpose of this high-performance testbed is to develop a system capable of performing robust navigation tasks using vision tools such as a stereo camera. While ensuring the computation of robot odometery, the system is also capable of sensing the environment using the same stereo camera. Hence, all the navigation tasks are performed using a stereo camera and an inertial measurement unit (IMU) as the main sensor suite. ROS is used as a framework for software integration due to its capabilities to provide efficient …

Real-Time Path Planning And Obstacle Avoidance For Mobile Robots With Actuator Faults, Ravindra Vibha Bellur

Browse all Theses and Dissertations

In this research, a fault-tolerant path planning and obstacle avoidance algorithm is implemented for mobile ground robots. The fault-tolerant system architecture consists of the following three components: (1) an online fault diagnosis module for detecting and estimating actuator faults in the mobile robot; (2) a localization and mapping module for dynamic terrain mapping and obstacle detection; (3) a path planning and obstacle avoidance module for generating way points from a given point to the desired destination, avoiding the detected obstacles and moving along these way points. The online fault diagnostic information is used to compensate for the effect of faults, …

An Obstacle Avoidance System For The Visually Impaired Using 3-D Point Cloud Processing, Evan Justin Taylor

Theses and Dissertations

The long white cane offers many benefits for the blind and visually impaired. Still, many report being injured both indoors and outdoors while using the long white cane. One frequent cause of injury is due to the fact that the long white cane cannot detect obstacles above the waist of the user. This thesis presents a system that attempts to augment the capabilities of the long white cane by sensing the environment around the user, creating a map of obstacles within the environment, and providing simple haptic feedback to the user. The proposed augmented cane system uses the Asus Xtion …

Relative Navigation Of Micro Air Vehicles In Gps-Degraded Environments, David Orton Wheeler

Theses and Dissertations

Most micro air vehicles rely heavily on reliable GPS measurements for proper estimation and control, and therefore struggle in GPS-degraded environments. When GPS is not available, the global position and heading of the vehicle is unobservable. This dissertation establishes the theoretical and practical advantages of a relative navigation framework for MAV navigation in GPS-degraded environments. This dissertation explores how the consistency, accuracy, and stability of current navigation approaches degrade during prolonged GPS dropout and in the presence of heading uncertainty. Relative navigation (RN) is presented as an alternative approach that maintains observability by working with respect to a local coordinate …

Pseudo-Spectral Methods Based Real-Time Optimal Path Planning For Unmanned Ground Vehicles, Denish Kamleshkumar Baman

Mechanical and Aerospace Engineering Theses

Real-time optimal trajectory design and tracking for autonomous ground vehicles are maturing technologies with the potential to advance mobility by enhancing time and energy efficiency in application such as indoor surveillance robots or planetary exploration rovers. Pseudo-spectral methods based trajectory generation framework provides the desired trajectory which minimizes a prescribed objective function (i.e. minimum time, acceleration, and energy) while satisfying kinodynamics and various types of constraints (i.e. obstacle avoidance and smooth turning at waypoint transitions). In this thesis cyber-physical system architecture is used for the communication between rover-vehicle and the ground station. By using optimal state and control vector from …

Autonomous Navigation With Obstacle Avoidance For Unmanned Aircraft Systems Using Milp, James A. Devens

Theses and Dissertations

Autonomous coordination among multiple aerial vehicles to ensure a collision free airspace is a critical aspect of today’s airspace. With the rise of Unmanned Aerial Vehicles (UAVs) in the military and commercial sectors, obstacle avoidance in a densely populated airspace is necessary. This thesis investigates finding optimal or near-optimal trajectories in real-time for aircraft in complex airspaces containing a large number of obstacles. The solution for the trajectories is described as a linear program subject to mixed integer constraints, known as a Mixed Integer Linear Program (MILP). The resulting MILP problem is solved in real time using a well-known, public …

Formal Specification And Refinement Of The Navigation Tasks Of Autonomous Robots, Eman Rabiah Rabiah

Theses

Autonomous robots are hybrid systems whose role in our daily life is becoming increasingly critical. They are tasked with various activities requiring reliability, safety, and correctness of their software-controlled behavior. Formal methods have been proved effective in addressing development issues associated with these software qualities. However, even though autonomous robot navigation is a primordial function, there is no research dealing with enhancing reliability of the navigation algorithms. Thus, our focus is to investigate this type of algorithms, and specifically path planning, a fundamental and critical functionality supporting autonomy. We formally address the issue of enhancing reliability of the widely-used A* …

A Methodology For The Analysis Of In-Vehicle Operating Data And Design Of Intelligent Vehicle Systems For Improved Automotive Safety, Matthew Jensen

All Dissertations

Every year global motorization increases as more motor vehicles are manufactured, and the total number of vehicle miles traveled rises. These increased travel opportunities result in higher numbers of injuries, fatalities, and monetary losses associated with traffic-related crashes. In the last decade, hundreds of thousands of people were killed by vehicle collisions in the United States. The World Health Organization has labeled traffic crashes as the ninth leading cause of global disease; by the year 2020, traffic crashes are expected to rise to number three. An opportunity exists to improve global human safety through research and innovation in driver training …

Obstacle Avoidance, Visual Automatic Target Tracking, And Task Allocation For Small Unmanned Air Vehicles, Jeffery Brian Saunders

Theses and Dissertations

Recent developments in autopilot technology have increased the potential use of micro air vehicles (MAVs). As the number of applications increase, the demand on MAVs to operate autonomously in any scenario increases. Currently, MAVs cannot reliably fly in cluttered environments because of the difficulty to detect and avoid obstacles. The main contribution of this research is to offer obstacle detection and avoidance strategies using laser rangers and cameras coupled with computer vision processing. In addition, we explore methods of visual target tracking and task allocation. Utilizing a laser ranger, we develop a dynamic geometric guidance strategy to generate paths around …

Real-Time Optical Flow Sensor Design And Its Application On Obstacle Detection, Zhaoyi Wei

Theses and Dissertations

Motion is one of the most important features describing an image sequence. Motion estimation has been widely applied in structure from motion, vision-based navigation and many other fields. However, real-time motion estimation remains a challenge because of its high computational expense. The traditional CPU-based scheme cannot satisfy the power, size and computation requirements in many applications. With the availability of new parallel architectures such as FPGAs and GPUs, applying these new technologies to computer vision tasks such as motion estimation has been an active research field in recent years. In this dissertation, FPGAs have been applied to real-time motion estimation …

A Virtual Reality Visualization Ofan Analytical Solution Tomobile Robot Trajectory Generationin The Presence Of Moving Obstacles, Ricardo Elias

Electronic Theses and Dissertations

Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.

Obstacle Avoidance For Small Unmanned Air Vehicles, Brandon R. Call

Theses and Dissertations

Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. These UAVs can be given the capability to navigate in uncertain environments if obstacles are identified. This research presents an obstacle avoidance system for small UAVs. First, a mission waypoint path is created that avoids all known obstacles using a genetic algorithm. Then, while the UAV is in flight, obstacles are detected using a forward looking, onboard camera. Image features are found using the Harris Corner Detector and tracked through multiple video frames which provides three dimensional localization of the features. A sparse three dimensional …