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Artificial Intelligence and Robotics

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Articles 31 - 37 of 37

Full-Text Articles in Navigation, Guidance, Control and Dynamics

Experimental Investigation Of Stochastic Parafoil Guidance Using A Graphics Processing Unit, Nathan Slegers, Andrew Brown, Jonathan Rogers Mar 2015

Experimental Investigation Of Stochastic Parafoil Guidance Using A Graphics Processing Unit, Nathan Slegers, Andrew Brown, Jonathan Rogers

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Control of autonomous systems subject to stochastic uncertainty is a challenging task. In guided airdrop applications, random wind disturbances play a crucial role in determining landing accuracy and terrain avoidance. This paper describes a stochastic parafoil guidance system which couples uncertainty propagation with optimal control to protect against wind and parameter uncertainty in the presence of impact area obstacles. The algorithm uses real-time Monte Carlo simulation performed on a graphics processing unit (GPU) to evaluate robustness of candidate trajectories in terms of delivery accuracy, obstacle avoidance, and other considerations. Building upon prior theoretical developments, this paper explores performance of the …

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A Mathematical Framework For Unmanned Aerial Vehicle Obstacle Avoidance, Sorathan Chaturapruek Jan 2014

A Mathematical Framework For Unmanned Aerial Vehicle Obstacle Avoidance, Sorathan Chaturapruek

HMC Senior Theses

The obstacle avoidance navigation problem for Unmanned Aerial Vehicles (UAVs) is a very challenging problem. It lies at the intersection of many fields such as probability, differential geometry, optimal control, and robotics. We build a mathematical framework to solve this problem for quadrotors using both a theoretical approach through a Hamiltonian system and a machine learning approach that learns from human sub-experts' multiple demonstrations in obstacle avoidance. Prior research on the machine learning approach uses an algorithm that does not incorporate geometry. We have developed tools to solve and test the obstacle avoidance problem through mathematics.

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Intelligent Sensing Based On Low Cost Unmanned Aerial Vehicles (Uav) For Bridge Condition Assessment, Theodore Teates, Austin Boyd, Chung-Hao Chen Jan 2014

Intelligent Sensing Based On Low Cost Unmanned Aerial Vehicles (Uav) For Bridge Condition Assessment, Theodore Teates, Austin Boyd, Chung-Hao Chen

Electrical & Computer Engineering Faculty Publications

The eventual completion of this project envisions the use of an Unmanned Aerial Vehicle (UAV) to inspect bridge infrastructure. This project may also be expanded to encompass general object detection and inspection in order to unburden this technology so that it may reach its fullest potential. The project requires research and development in three distinct areas of image processing, control structures, and integration of systems. Initial undergraduate research sets the base knowledge for the overall project, explores the areas of concentration that are desired to expand upon in the future project, and provides a base UAV model that new researchers …

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Unmanned Autonomous Object Retrieval: Old Dominion University 2013 International Aerial Robotics Competition Entry, Johnathan Bailey, Austin Boyd, Chung-Hao Chen, Stephen Dailey, Lisa Henderson, Jeremy Stuart, Christina Williams Jan 2013

Unmanned Autonomous Object Retrieval: Old Dominion University 2013 International Aerial Robotics Competition Entry, Johnathan Bailey, Austin Boyd, Chung-Hao Chen, Stephen Dailey, Lisa Henderson, Jeremy Stuart, Christina Williams

Electrical & Computer Engineering Faculty Publications

This paper describes the design implementation of a Quadrotor Unmanned Aerial Vehicle (UAV) with the capability of exploring indoor locations without the assistance of external aids. For relative position, the use of a laser range sensor, an optical flow sensor, and sonar sensor combined allows for the vehicle to generate mapping information. With relative position in mind, the vehicle uses vision algorithms to recognize immediate obstacles, sign, and entry ways to allow for quick movement responses and object recognition. A proportional-integral-differentiator controller allows for flight stability and mitigation in the tight confines of the indoor spaces. A mapping algorithm allows …

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Object Retrieval From Secure Unknown Interior Spaces Using Autonomous Unmanned Aerial Vehicles, John Levous, Julie Hoven, Victor Habgood, Abdulrahman Alotaibi, Brandon Ordway, Garibe Mohammed-Jones, Haole Guo, Filip Cuckov, Chung-Hao Chen Jan 2012

Object Retrieval From Secure Unknown Interior Spaces Using Autonomous Unmanned Aerial Vehicles, John Levous, Julie Hoven, Victor Habgood, Abdulrahman Alotaibi, Brandon Ordway, Garibe Mohammed-Jones, Haole Guo, Filip Cuckov, Chung-Hao Chen

Electrical & Computer Engineering Faculty Publications

This paper describes an autonomous unmanned aerial vehicle (UAV) designed to participate in the 23rd annual International Aerial Robotics Competition. The UAV is equipped with onboard sensors and a Harvard architecture 8-bit RISC microcontroller to monitor and locally control its flight telemetry. Additional sensors (and an additional microcontroller) are used for detecting and mapping of structural and environmental objects while the UAV is in flight. The microcontrollers are interfaced with wireless communication modules for transmitting flight telemetry and structural/environmental data to a ground control station that sends the UAV command and control signals required for the mission objectives. The UAV …

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Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems Mar 2011

Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems

Theses and Dissertations

As the concept of war has evolved, navigation in urban environments where GPS may be degraded is increasingly becoming more important. Two existing solutions are vision-aided navigation and vision-based Simultaneous Localization and Mapping (SLAM). The problem, however, is that vision-based navigation techniques can require excessive amounts of memory and increased computational complexity resulting in a decrease in speed. This research focuses on techniques to improve such issues by speeding up and optimizing the data association process in vision-based SLAM. Specifically, this work studies the current methods that algorithms use to associate a current robot pose to that of one previously …

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Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus Jun 1998

Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus

Theses and Dissertations

Control concepts for satellite mounted manipulators (SMM) are examined. The primary focus is on base actuated concepts, which eliminate singularity problems associated with free floating SMMs. A new form of the equations of motion for an n-link SMM is developed using a quasi coordinate form of Lagrange's Equation. Alternative free floating SMM designs are presented which eliminate dynamic singularities, but still experience difficulties due to the unactuated base. A new generic SMM controller is developed as a framework for various control concepts with and without base actuation. Momentum constrained Jacobians are shown to produce better SMM tracking than fixed base …

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