1# Library to Find Best eBook for Read
Author : Markus W. Achtelik (Ingénieur mécanicien.)
Release : 2013
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles by : Markus W. Achtelik (Ingénieur mécanicien.)
Download or read book Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles written by Markus W. Achtelik (Ingénieur mécanicien.). This book was released on 2013. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Marina Indri
Release : 2020-11-24
Genre : Technology & Engineering
Kind : eBook
Book Rating : 464/5 ( reviews)
Book Synopsis Mechatronics and Robotics by : Marina Indri
Download or read book Mechatronics and Robotics written by Marina Indri. This book was released on 2020-11-24. Available in PDF, EPUB and Kindle. Book excerpt: The term “mechatronics” was coined in 1969, merging “mecha” from mechanism and “tronics” from electronics, to reflect the original idea at the basis of this discipline, that is, the integration of electrical and mechanical systems into a single device. The spread of this term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering. Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a “smart brain”, but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (for example, for safety purposes). Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as “hot topics” in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available. The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans, ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, aand humanoids for human assistance. The reader can also find new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms.
Author : Sikang Liu
Release : 2018
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Motion Planning for Micro Aerial Vehicles by : Sikang Liu
Download or read book Motion Planning for Micro Aerial Vehicles written by Sikang Liu. This book was released on 2018. Available in PDF, EPUB and Kindle. Book excerpt: A Micro Aerial Vehicle (MAV) is capable of agile motion in 3D making it an ideal platform for developments of planning and control algorithms. For fully autonomous MAV systems, it is essential to plan motions that are both dynamically feasible and collision-free in cluttered environments. Recent work demonstrates precise control of MAVs using time-parameterized trajectories that satisfy feasibility and safety requirements. However, planning such trajectories is non-trivial, especially when considering constraints, such as optimality and completeness. For navigating in unknown environments, the capability for fast re-planning is also critical. Considering all of these requirements, motion planning for MAVs is a challenging problem. In this thesis, we examine trajectory planning algorithms for MAVs and present methodologies that solve a wide range of planning problems. We first introduce path planning and geometric control methods, which produce spatial paths that are inadequate for high speed flight, but can be used to guide trajectory optimization. We then describe optimization-based trajectory planning and demonstrate this method for solving navigation problems in complex 3D environments. When the initial state is not fixed, an optimization-based method is prone to generate sub-optimal trajectories. To address this challenge, we propose a search-based approach using motion primitives to plan resolution complete and sub-optimal trajectories. This algorithm can also be used to solve planning problems with constraints such as motion uncertainty, limited field-of-view and moving obstacles. The proposed methods can run in real time and are applicable for real-world autonomous navigation, even with limited on-board computational resources. This thesis includes a carefully analysis of the strengths and weaknesses of our planning paradigm and algorithms, and demonstration of their performance through simulation and experiments.
Author : Viacheslav Pshikhopov
Release : 2017-01-28
Genre : Technology & Engineering
Kind : eBook
Book Rating : 060/5 ( reviews)
Book Synopsis Path Planning for Vehicles Operating in Uncertain 2D Environments by : Viacheslav Pshikhopov
Download or read book Path Planning for Vehicles Operating in Uncertain 2D Environments written by Viacheslav Pshikhopov. This book was released on 2017-01-28. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning for Vehicles Operating in Uncertain 2D-environments presents a survey that includes several path planning methods developed using fuzzy logic, grapho-analytical search, neural networks, and neural-like structures, procedures of genetic search, and unstable motion modes. Presents a survey of accounting limitations imposed by vehicle dynamics Proposes modified and new original methods, including neural networking, grapho-analytical, and nature-inspired Gives tools for a novice researcher to select a method that would suit their needs or help to synthesize new hybrid methods
Author : Sean R. Semper
Release : 2011
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Optimal and Efficient Geolocation and Path Planning for Unmanned Aerial Vehicles Using Uncertainty Measures by : Sean R. Semper
Download or read book Optimal and Efficient Geolocation and Path Planning for Unmanned Aerial Vehicles Using Uncertainty Measures written by Sean R. Semper. This book was released on 2011. Available in PDF, EPUB and Kindle. Book excerpt: A general frame work for determining an object's absolute position from relative position measurements, commonly called geolocation, is developed in this dissertation. Relative measurements are obtained from a two unmanned aerial vehicle (UAV) team with electronic support measure (ESM) sensors on board. One team combines their time of arrival (TOA) measurements forming one time difference of arrival measurement (TDOA) from an emitter's signal. Using an Extended Kalman Filter (EKF), pseudorange equations containing UAV positions and emitter position estimates are sequentially estimated to solve for absolute emitter positions. Uncertainty metrics are derived for enhancing filter performance, allowing for a theoretical selection of guidance routines given operational requirements. When prior information is present then special stochastic approach is developed to include this information into the guidance routine. When the UAV heading angle contains errors, a newly derived a marginalized adaptive Gaussian sum propagator is used to estimate nonlinear UAV positions. Marginalizing the state-space places computational efforts on the nonlinear portions of the state-space and allows the linear portions to propagated using a linear Kalman Filter (KF). Combining new estimation methods allows one to deal with more complex scenarios and create robust architectures for passive geolocation solutions.
