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Conventional agricultural fields are sprayed uniformly to control weeds, insects, and diseases. To reduce cultivation expenses, to produce healthier food and to create more environmentally friendly farms, chemicals should only be applied to the right place at the right time and exactly with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals...
A sea demining system using autonomous marine surface vehicles (AMSV) is introduced. The research involves the development of exemplars of these vehicles, and the procedures for area scanning and coverage. The demining is made by field influence, towing a submerged “fish”. This study is made both with simulations and with scale experiments.
AUVs increasingly are being used to collect data in the benthic environment. Many of these data collection tasks require that the AUV is able to follow the terrain at standoff distances on the order of meters (e.g. benthic imaging). However, terrain following with an AUV is a challenging problem when the terrain is rough, and the task becomes even more difficult when using motion-constrained vehicles...
Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain. This paper presents an integrated motion planning and control system for tracked vehicles. Flexible path-end adjustments and adaptive look-ahead are introduced to a state lattice planning approach with waypoint control. For a given processing...
In the present work, a strategy to turn a car-like mobile robot in a restricted environment is presented. The strategy uses a Simultaneous Localization and Map Building (SLAM) algorithm to localize the robot in the environment and uses the map generated by the SLAM in the reverse movement of the turning strategy. The planning strategy takes into account the variance propagation in the predicted path...
A new, simple, and fast method to compute the sharpness and curvature of a clothoid segment of a continuous curvature path is presented. When generating continuous curvature paths, clothoid segments are needed to connect straight segments to perfect arc segments. This algorithm is part of a new trajectory generator and motion planner that generates smooth, natural, drivable paths, using a minimal...
This paper addresses the problem of following a moving target by an autonomous unmanned vehicle. The target may have higher maneuverability and a smaller minimum turning radius than the pursuing vehicle. The goal is to keep the autonomous vehicle as close as possible to the target all the time. We present a simple and constructive bearings-only guidance law and give its mathematically rigorous analysis.
This research proposes an automatic parking system (APS) with a good maneuver performance for vehicle. The proposed configuration of the APS includes sensors information fusion, position estimation, path planning, and tracking algorithm. The on-vehicle verification demonstrated by means of the control of an electric power steering system for tracking the planned path. Parking space is measured up...
In this work we introduce a real-time path planning method for Unmanned Aerial Vehicles (UAVs) in uncertain environment. The kinematic system of the vehicle is therefore heuristically reduced to a set of feasible trim trajectories. The local operating Iterative Step Method (ISM) sequentially determines the next best trim trajectory, which minimizes a local cost-function. By varying the respective...
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