2 edition of Guidance-based rendezvous with moving objects in dynamic cluttered environments. found in the catalog.
Guidance-based rendezvous with moving objects in dynamic cluttered environments.
Written in English
The focus of this Thesis is on the following two autonomy aspects for intelligent and autonomous vehicles: (i) time-optimal interception and rendezvous with a moving object and (ii) obstacle avoidance. This Thesis presents two novel time-optimal on-line trajectory planning algorithms that allow a vehicle to navigate autonomously in dynamic cluttered environments, while avoiding other moving objects, in order to intercept and rendezvous with a moving target.The proposed trajectory planners are implemented in both computer simulations and experimentation. The results show that the proposed trajectory planner using velocity obstacles is able to achieve tangibly faster interceptions.The first algorithm implements static method of obstacle avoidance. A rendezvous-guidance technique is utilized in conjunction with a modified cell-decomposition method. The second algorithm implements a dynamic method of obstacle avoidance. Here, the problem is addressed by utilizing a modified version of the velocity obstacle approach, again augmented with a rendezvous-guidance algorithm.
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Radar is a detection system that uses radio waves to determine the range, angle, or velocity of objects. It can be used to detect aircraft, ships, spacecraft, guided missiles, motor vehicles, weather formations, and terrain.A radar system consists of a transmitter producing electromagnetic waves in the radio or microwaves domain, a transmitting antenna, a receiving antenna (often the same. Radar is an object-detection system that uses radio waves to determine the range, angle, or velocity of objects. It can be used to detect aircraft, ships, spacecraft, guided missiles, motor vehicles, weather formations, and terrain.A radar transmits radio waves or microwaves that reflect from any object in their path. A receive radar, which is typically the same system as the transmit radar.
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Time-optimal rendezvous with moving objects in dynamic cluttered environments using a guidance based technique Conference Paper September with 14 Reads How we measure 'reads'. Request PDF | Rendezvous Guidance for the Autonomous Interception of Moving Objects in Cluttered Environments | This paper presents a novel method for the time-optimal interception of moving.
This paper presents a novel method for the time-optimal rendezvous of an autonomous vehicle with moving targets in the presence of dynamic obstacles. This interception problem is addressed by utilizing the velocity obstacle approach of Fiorni and Shiller augmented with a rendezvous-guidance algorithm.
However, the velocity obstacle approach had to be modified to ensure that the real-time. Request PDF | Rendezvous-Guidance Based Robotic Interception | A novel rendezvous-guidance algorithm is proposed in this paper for the robotic interception of moving objects. The object is.
Abstract—This correspondence presents a novel online trajectory- planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous).
Online path planning for AUV rendezvous in dynamic cluttered undersea environment using evolutionary algorithms sensory information in dealing with different types of moving objects.
Third, is to utilize four evolutionary methods called PSO, DE, BBO and FA to provide a numerical solution for the proposed NOCP. task-assign route planning.
The problem of robotic-vehicle interception in obstacle-cluttered environments using a Rendezvous-Guidance (RG) method augmented with a Modified Exact Cell Decomposition method for rendezvous was first addressed in. The time optimality of this method was further improved in through the use of a Velocity Obstacle (VO) approach.
moving objects. Moving objects are mapped as spurious measurements and decrease map quality. Figure 1: Difference in quality between maps with and without moving objects MAPPING Mapping in dynamic environments involves: • The differentiation of static and dynamic objects, and • The representation of static and dynamic objects.
Time-Optimal Rendezvous with Moving Objects in Dynamic Cluttered Environments Using Guidance Based Techniques F. Kunwar, F. Wong, R. Ben Mrad and B. Benhabib Obstacle Avoidance Strategy Based on Adaptive Potential Fields Generated. The rendezvous will work with any size group from a small team to a large gathering of the masses.
Our rendezvous here in Mesa are a three day event held at the end of Spring break. The Spring rendezvous had about youth, adult leaders, and about staff members. Time-optimal rendezvous with moving objects in dynamic cluttered environments using a guidance based technique velocity at which the object is moving in a dynamic environment with static and.
Online Path Planning for AUV Rendezvous in Dynamic Cluttered Undersea the behavior of a large uncertain dynamic environment outside of a vehicle’s sensor coverage range, is impractical and information in dealing with different types of moving objects.
Third, is. Presenting the rendezvous problem as a Nonlinear Optimal Control Problem by defining the loitering and rendezvous point as boundary conditions using Mayer cost function.
Providing realistic scenarios for operation an AUV encountering a real map, uncertainty of the environment, time-varying current, and obstacles information. This paper presents a novel online trajectory planning method for the autonomous robotic interception of mobile targets in the presence of dynamic obstacles.
The objective is time-optimal position and velocity matching (also referred to as rendezvous) while traversing realistic terrains with uneven topologies. The primary novelty of the proposed interception method lies in its ability to.
problems of grasping moving objects. This paper presents a This work was supported by: the Innovate UK KTP partnership explore control strategies for dynamic grasping via simpli-ﬁed 2D simulation experiments, in which a successful grasp for grasping in cluttered environments.
Time-optimal rendezvous with moving objects in dynamic cluttered environments using a guidance based technique F Kunwar, F Wong, RB Mrad, B Benhabib IEEE/RSJ International Conference on Intelligent Robots and Systems Abstract This paper presents a strategy for planning robot motions in dynamic, cluttered, and uncertain environments.
Successful and efcient operation in such environments re- quires reasoning about the future system evolution and the uncertainty associated with obstacles and moving agents in.
The proposed method not only provides time-optimal positional interception, but, also simultaneously matches the velocity at which the object is moving in a dynamic environment with static and/or.
Global shortest path planning for a wheeled mobile robot navigated by a sensor network in dynamic cluttered environments. Impact angle constrained terminal guidance based on dynamic output feedback with guaranteed convergence speed.
Interception of a moving object with a specified approach angle by a wheeled robot: Theory and experiment. Abstract. This paper presents a new approach for the interception of moving objects using UGVs in large complex environments.
The planning for interception is based on the Risk-RRT algorithm. Several modifications have been made to the base algorithm to enhance its ability to move in uncertain environments. The main advantages of the proposed rendezvous method include: (1) operation in cluttered and dynamic environments (no prior knowledge of obstacles), and (2) fault-tolerance (e.g., faults in robot mobility or communication).
Abstract: A guidance control method is proposed for the mission of autonomous rendezvous and docking with non-cooperative target spacecraft.
Firstly, the relative motion equations of state are described in a line of sight coordinate frame. Then artificial potential function guidance based-fuzzy logic system, which adapts the parameters of the potential function, is used for chaser to. In this paper, we propose an approach to achieve state consensus on a team of dynamic agents distributed in unknown cluttered environments.
The methodology combines basic concepts of consensus formalism and a real-time random planning framework, capable of, in a decentralized manner, navigate safely and efficiently through the work-space, leading all agents to the same region on the.
Environment composed of stationary objects is described as static while those with moving objects are termed as dynamic. When the path planning occurs in a static environment and all the information of the environment required by the robot to perform path planning and obstacle avoidance is available, it is described as global path planning.
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which are valid only as long as the environment is static and perception and control are highly accurate.
In case of any changes in the environment. Motion Strategies for People Tracking in Cluttered and Dynamic Environments Tirthankar Bandyopadhyay 1, David Hsu2, and Marcelo H.
Ang Jr. 1 Department of Mechanical Engineering, [email protected]; [email protected] 2 Department of Computer Science, [email protected] National University of Singapore, Singapore. trajectories to ﬁrst grasp an object, then move it to its destination.
We present a high performance, high precision perception and planning combination that enables the PR2 to perform pick-and-place operations on dynamic objects by working with a conveyor belt that drives objects past the robot at a speed of 33cm/s.
Please email [email protected] for copies of papers. (Allow for about a week to receive a response) A. Fung, L. Wang, K.
Zhang, G. Nejat, and B. Benhabib, “Using Deep Learning to Find Victims in Unknown Cluttered Urban Search and Rescue Environments,” Current Robotics Reports, vol. 1, no. 3, pp. –,doi: /s A novel method for online, robotic interception of moving objects using visual feedback is proposed in this paper.
No prior knowledge of the motion of the object is assumed. Since such objects might depart quickly from the workspace of the robot, fast interception is a critical issue.
Thus, a novel time-optimal rendezvous-guidance technique that takes the dynamic limitations of the robot into. "Tracking Objects in Occluding Environments using Temporal Spatio-Velocity Transform", Proceedings of the 2nd Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS), Beijing, China, October (with Koichi Sato).
Pitman Books Ltd., pp."Dynamic Scene Analysis. Small Moving Object Tracking in Dynamic Video Abstract: The problems of moving object detecting and tracking on UAV (Unmanned Aerial Vehicle) platforms in surveillance operations are addressed, and a robust tracking method for reliably detecting and tracking of foreground moving objects in a dynamically changing environment is proposed.
Measurement environment, disturbances General assessment of satellite navigation for RVD Optical rendezvous sensors Scanning laser range ﬁnder Camera type of rendezvous sensor Measurement environment, disturbances General assessment of optical sensors for rendezvous 8 Mating.
Abstract: This correspondence presents a novel online trajectory-planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous).
The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity. techniques that will allow moving object detection on the move in real time. We classify the problem of moving object detection into four categories: 1.
Detection of moving objects from a static camera 2. Detection of moving objects from a moving cam-era with known egomotion (from IMU, etc.), and knowledge of 3D/depth/range information (from.
State dependent model predictive control for orbital rendezvous using pulse-width pulse-frequency modulated thrusters Advances in Space Research, Vol. 58, No. 1 Quasi-linear model reference tracking control of approaching non-cooperative target based on direct parametric control.
Abstract: Autonomous vehicles require a reliable perception of their environment to operate in real-world conditions. Awareness of moving objects is one of the key components for the perception of the environment.
This paper proposes a method for detection and tracking of moving objects (DATMO) in dynamic environments surrounding a moving road vehicle equipped with a.
“A quasi-physical dynamic reduced order model for thermospheric mass density via Hermitian Space Dynamic Mode Decomposition, ” Space Weather, [J11] Mehta, P.M., Linares, R., and Walker, A., “ Photometric Data from Non-Resolved Objects for Improved Drag and Re-entry Prediction, ” Journal of Spacecraft and Rockets, Abstract: We present a simple yet highly efficient method to eliminate spurious trails of dynamic objects for 3-D point cloud map updating.
First, we extract the view overlaps based on view frustum filter. Then, we obtain spurious trails via bidirectional searching of view overlaps using a KD tree. Motion planning in dynamic environments with moving obstacles and moving targets is another thrust area [, ].
There is sturdy evidence that a complete planner, i.e., one that finds a path whenever one exists and reports that no one exists otherwise, will take time exponentially with the number of degrees of freedom of the robot.
CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): For many applications, we need to represent and simulate dynamic objects or phenomena to better understand, analyze, predict and manage their behaviours.
Some examples of this application are: simulation of fluid flows, meteorological and environmental applications, aircraft control, ship navigation, and inter. In any video surveillance system, the key step is the detection of moving an object from the scene. Moving object detection is the separation of moving foreground objects from background that may be static or dynamic.
The dynamic background may be .Applications, 2nd Edition focuses on moving object management, from the location management perspective to determining how constantly changing locations affect the traditional database and data mining technology.
The book specifically describes the topics of moving objects modeling and location tracking, indexing and querying, clustering, location uncertainty, traffic-aware navigation and.The ability to navigate in everyday environments is a fundamental and necessary skill for any autonomous mobile agent that is intended to work with human users.
The presence of pedestrians and other dynamic objects, however, makes the environment inherently dy-namic and uncertain. To navigate in such environments, an agent must reason about the.