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Full-Text Articles in Mechanical Engineering
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Christopher N. Roman
Practical autonomous robotic vehicles require dependable methods for accurately identifying course or roadway boundaries. The authors have developed a method to reliably extract the boundary line using simple dynamic thresholding, noise filtering, and blob removal. This article describes their efforts to apply this procedure in developing an autonomous vehicle.
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
Mechanical Engineering Faculty Research
Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Christopher N. Roman
This paper presents a method to evaluate the mapping error present in point cloud terrain maps created using robotic vehicles and range sensors. This work focuses on mapping environments where no a priori ground truth is available and self consistency is the only available check against false artifacts and errors. The proposed error measure is based on a disparity measurement between common sections of the environment that have been imaged multiple times. This disparity measure highlights inconsistency in the terrain map by showing regions where multiple overlapping point clouds do not fit together well. This error measure provides the map …
Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh
Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh
Christopher N. Roman
This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Graduate School of Oceanography Faculty Publications
Practical autonomous robotic vehicles require dependable methods for accurately identifying course or roadway boundaries. The authors have developed a method to reliably extract the boundary line using simple dynamic thresholding, noise filtering, and blob removal. This article describes their efforts to apply this procedure in developing an autonomous vehicle.