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Dissertations / Theses on the topic 'Unmanned aerial vehicle path planning'

Author: Grafiati

Published: 7 June 2025

Last updated: 2 August 2025

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1

Griner, Alina. "Human-RRT collaboration in Unmanned Aerial Vehicle mission path planning." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/76913.

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Thesis (M. Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 147-149).<br>Unmanned Aerial Vehicles (UAVs) are used for a variety of military and commercial purposes, including surveillance, combat, and search and rescue. Current research is looking into combining automation with human supervision to facilitate various lower-level cognitive tasks, such as path planning, in order to allow the human operator to focus on high-level mission strategy. P

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2

Yu, Kevin Li. "Coverage Planning for Unmanned Aerial Vehicles." Diss., Virginia Tech, 2021. http://hdl.handle.net/10919/103705.

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This dissertation investigates how to plan paths for Unmanned Aerial Vehicles (UAV) for the task of covering an environment. Three increasingly complex coverage problems based on the environment that needs to be covered are studied. The dissertation starts with a 2D point coverage problem where the UAV needs to visit a set of sites on the ground plane by flying on a fixed altitude plane parallel to the ground. The UAV has limited battery capacity which may make it infeasible to visit all the points. A novel symbiotic UAV and Unmanned Ground Vehicle (UGV) system where the UGV acts as a mobile r

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3

Bradley, Justin, and Breton Prall. "AN UNMANNED AERIAL VEHICLE PROJECT FOR UNDERGRADUATES." International Foundation for Telemetering, 2006. http://hdl.handle.net/10150/604143.

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ITC/USA 2006 Conference Proceedings / The Forty-Second Annual International Telemetering Conference and Technical Exhibition / October 23-26, 2006 / Town and Country Resort & Convention Center, San Diego, California<br>Brigham Young University recently introduced a project for undergraduates in which a miniature unmanned aerial vehicle system is constructed. The system is capable of autonomous flight, takeoff, landing, and navigation through a planned path. In addition, through the use of video and telemetry collected by the vehicle, accurate geolocation of specified targets is performed. T

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4

Mize, Lloyd B. IV. "Development of a Multiple Vehicle Collaborative Unmanned Aerial System." VCU Scholars Compass, 2011. http://scholarscompass.vcu.edu/etd/2527.

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The purpose of this research was to design a multiple UAV system with collaborative operation. This project is built on work that has been done in the field of Unmanned Systems at VCU and is aimed at providing a starting point for research into collaborative control of multiple UAVs. The current GCS software was extended to include multiple vehicles per single controller via a new communication protocol. Many changes were made to the user interface to facilitate controlling multiple vehicles with a single operator. A second processor, called an MCS, was added to each vehicle to allow for g

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5

Eriksson, Urban. "Dynamic Path Planning for Autonomous Unmanned Aerial Vehicles." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-241243.

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This thesis project investigates a method for performing dynamic path planning in three dimensions, targeting the application of autonomous unmanned aerial vehicles (UAVs). Three different path planning algorithms are evaluated, based on the framework of rapidly-exploring random trees (RRTs): the original RRT, RRT*, and a proposed variant called RRT-u, which differs from the two other algorithms by considering dynamic constraints and using piecewise constant accelerations for edges in the planning tree. The path planning is furthermore applied for unexplored environments. In order to select a

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6

Rennu, Samantha R. "Dynamic Mission Planning for Unmanned Aerial Vehicles." University of Dayton / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton16082274381124.

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7

Fan, Jiankun. "Optimal Path Planning and Control of Quadrotor Unmanned Aerial Vehicle for Area Coverage." University of Toledo / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1417345596.

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8

Noonan, Andrea L. "Flight plan generation for unmanned aerial vehicles." Thesis, Manhattan, Kan. : Kansas State University, 2007. http://hdl.handle.net/2097/385.

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9

Nguyen, Joseph Luan. "Long-term Informative Path Planning with Autonomous Soaring." Thesis, The University of Sydney, 2015. http://hdl.handle.net/2123/15364.

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The ability of UAVs to cover large areas efficiently is valuable for information gathering missions. For long-term information gathering, a UAV may extend its endurance by accessing energy sources present in the atmosphere. Thermals are a favourable source of wind energy and thermal soaring is adopted in this thesis to enable long-term information gathering. This thesis proposes energy-constrained path planning algorithms for a gliding UAV to maximise information gain given a mission time that greatly exceeds the UAV's endurance. This thesis is motivated by the problem of probabilistic target

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10

Omar, Rosli bin. "Path planning for unmanned aerial vehicles using visibility line-based methods." Thesis, University of Leicester, 2012. http://hdl.handle.net/2381/10906.

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This thesis concerns the development of path planning algorithms for unmanned aerial vehicles (UAVs) to avoid obstacles in two- (2D) and three-dimensional (3D) urban environments based on the visibility graph (VG) method. As VG uses all nodes (vertices) in the environments, it is computationally expensive. The proposed 2D path planning algorithms, on the contrary, select a relatively smaller number of vertices using the so-called base line (BL), thus they are computationally efficient. The computational efficiency of the proposed algorithms is further improved by limiting the BL’s length, whic

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11

Pollock, Andrew George. "Optimal algorithm design for transfer path planning for unmanned aerial vehicles." Thesis, University of Glasgow, 2014. http://theses.gla.ac.uk/5485/.

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Over the past three decades unmanned aerial vehicles (UAV) have seen significant development with a current focus on automation. The main area of development that is pushing automation is that of path planning allowing a UAV to generate its own path information that it can then follow to carry out its mission. Little work however has been carried out on transfer path planning. This work attempts to address this shortcoming by developing optimal algorithms for a path planning task to move on to a circular flightpath to carry out a target tracking mission. The work is developed in three main sec

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12

Techy, Laszlo. "Flight Vehicle Control and Aerobiological Sampling Applications." Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/29680.

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Aerobiological sampling using unmanned aerial vehicles (UAVs) is an exciting research field blending various scientific and engineering disciplines. The biological data collected using UAVs helps to better understand the atmospheric transport of microorganisms. Autopilot-equipped UAVs can accurately sample along pre-defined flight plans and precisely regulated altitudes. They can provide even greater utility when they are networked together in coordinated sampling missions: such measurements can yield further information about the aerial transport process. In this work flight vehicle path pl

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13

Spritzer, Zachary Wilson. "Comparison of path-planning and search methods for cooperating unmanned aerial vehicles." Morgantown, W. Va. : [West Virginia University Libraries], 2004. https://etd.wvu.edu/etd/controller.jsp?moduleName=documentdata&jsp%5FetdId=3303.

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Thesis (M.S.)--West Virginia University, 2004.<br>Title from document title page. Document formatted into pages; contains xi, 179 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 98-101).

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14

Krawiec, Bryan Michael. "A*-Based Path Planning for an Unmanned Aerial and Ground Vehicle Team in a Radio Repeating Operation." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/32545.

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In the event of a disaster, first responders must rapidly gain situational awareness about the environment in order to plan effective response operations. Unmanned ground vehicles are well suited for this task but often require a strong communication link to a remote ground station to effectively relay information. When considering an obstacle-rich environment, non-line-of-sight conditions and naive navigation strategies can cause substantial degradations in radio link quality. Therefore, this thesis incorporates an unmanned aerial vehicle as a radio repeating node and presents a path plann

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15

Wu, Paul Pao-Yen. "Multi-objective mission flight planning in civil unmanned aerial systems." Thesis, Queensland University of Technology, 2009. https://eprints.qut.edu.au/31322/1/Paul_Wu_Thesis.pdf.

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Unmanned Aerial Vehicles (UAVs) are emerging as an ideal platform for a wide range of civil applications such as disaster monitoring, atmospheric observation and outback delivery. However, the operation of UAVs is currently restricted to specially segregated regions of airspace outside of the National Airspace System (NAS). Mission Flight Planning (MFP) is an integral part of UAV operation that addresses some of the requirements (such as safety and the rules of the air) of integrating UAVs in the NAS. Automated MFP is a key enabler for a number of UAV operating scenarios as it aids in increasi

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16

MARDANI, AFSHIN. "Communication-Aware UAV Path Planning." Doctoral thesis, Politecnico di Torino, 2020. http://hdl.handle.net/11583/2796755.

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17

Clark, Spencer James. "Sensor-Driven Hierarchical Path Planning for Unmanned Aerial Vehicles Using Canonical Tasks and Sensors." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3798.

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Unmanned Aerial Vehicles (UAVs) are increasingly becoming economical platforms for carrying a variety of sensors. Building flight plans that place sensors properly, temporally and spatially, is difficult. The goal of sensor-driven planning is to automatically generate flight plans based on desired sensor placement and temporal constraints. We propose a simple taxonomy of UAV-enabled sensors, identify a set of generic sensor tasks, and argue that many real-world tasks can be represented by the taxonomy. We present a hierarchical sensor-driven flight planning system capable of generating 2D flig

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18

Swartzentruber, Levi Daniel. "Improving path planning of unmanned aerial vehicles in an immersive environment using meta-paths and terrain information." [Ames, Iowa : Iowa State University], 2009. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1468138.

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19

Freeman, Michael James. "The Integration of Iterative Convergent Photogrammetric Models and UAV View and Path Planning Algorithms into the Aerial Inspection Practices in Areas with Aerial Hazards." BYU ScholarsArchive, 2020. https://scholarsarchive.byu.edu/etd/8738.

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Small unmanned aerial vehicles (sUAV) can produce valuable data for inspections, topography, mapping, and 3D modeling of structures. Used by multiple industries, sUAV can help inspect and study geographic and structural sites. Typically, the sUAV and camera specifications require optimal conditions with known geography and fly pre-determined flight paths. However, if the environment changes, new undetectable aerial hazards may intersect new flight paths. This makes it difficult to construct autonomous flight path missions that are safe in post-hazard areas where the flight paths are based on p

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20

Joseph, Jose. "UAV Path Planning with Communication Constraints." University of Cincinnati / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1563872872304696.

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21

Vega-Nevarez, Juan. "Online Path Planning and Control Solution for a Coordinated Attack of Multiple Unmanned Aerial Vehicles in a Dynamic Environment." Master's thesis, University of Central Florida, 2012. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5551.

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The role of the unmanned aerial vehicle (UAV) has significantly expanded in the military sector during the last decades mainly due to their cost effectiveness and their ability to eliminate the human life risk. Current UAV technology supports a variety of missions and extensive research and development is being performed to further expand its capabilities. One particular field of interest is the area of the low cost expendable UAV since its small price tag makes it an attractive solution for target suppression. A swarm of these low cost UAVs can be utilized as guided munitions or kamikaze UAVs

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22

Grymin, David J. "Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/24520.

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This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algori

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23

Yu, Kevin L. "Persistent Monitoring with Energy-Limited Unmanned Aerial Vehicles Assisted by Mobile Recharging Stations." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/83493.

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We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on stationary recharging stations or on Unmanned Ground Vehicles (UGVs) acting as mobile recharging stations. This leads to a new variant of the Traveling Salesperson Problem (TSP) with mobile recharging stations. We present an algorithm that finds not only the order in which to visit the sites but also when and where to land on the charging stations to recharge. Our

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24

PRIMATESTA, STEFANO. "Autonomous Navigation for Mobile Robots in Crowded Environments." Doctoral thesis, Politecnico di Torino, 2019. http://hdl.handle.net/11583/2743231.

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25

Paleti, Apuroop. "Performance Evaluation of Path Planning Techniques for Unmanned Aerial Vehicles : A comparative analysis of A-star algorithm and Mixed Integer Linear Programming." Thesis, Blekinge Tekniska Högskola, Institutionen för datalogi och datorsystemteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-13541.

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Context: Unmanned Aerial Vehicles are being widely being used for various scientific and non-scientific purposes. This increases the need for effective and efficient path planning of Unmanned Aerial Vehicles.Two of the most commonly used methods are the A-star algorithm and Mixed Integer Linear Programming.Objectives: Conduct a simulation experiment to determine the performance of A-star algorithm and Mixed Integer Linear Programming for path planning of Unmanned Aerial Vehicle in a simulated environment.Further, evaluate A-star algorithm and Mixed Integer LinearProgramming based computational

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26

Kringberg, Fredrika. "A Path Planning Approach for Context Aware Autonomous UAVs used for Surveying Areas in Developing Regions." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-235926.

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Developing regions are often characterized by large areas that are poorly reachable or explored. The mapping and census of roaming populations in these areas are often difficult and sporadic. A recent spark in the development of small aerial vehicles has made them the perfect tool to efficiently and accurately monitor these areas. This paper presents an approach to aid area surveying through the use of Unmanned Aerial Vehicles. The two main components of this approach are an efficient on-device deep learning object identification component to capture and infer images with acceptable performanc

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27

Jung, Dongwon Jung. "Hierarchical Path Planning and Control of a Small Fixed-wing UAV: Theory and Experimental Validation." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19781.

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Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2008.<br>Committee Chair: Tsiotras, Panagiotis; Committee Member: Corban, Eric; Committee Member: Feron, Eric; Committee Member: Johnson, Eric; Committee Member: Vachtsevanos, George.

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28

Cardell, Magnus. "UAV Navigation using Local Computational Resources : Keeping a target in sight." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-291229.

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When tracking a moving target, an Unmanned Aerial Vehicle (UAV) mustkeep the target within its sensory range while simultaneously remaining awareof its surroundings. However, small flight computers must have sufficientenvironmental knowledge and computational capabilities to provide real-timecontrol to function without a ground station connection. Using a Raspberry Pi4 model B, this thesis presents a practical implementation for evaluating pathplanning generators in the context of following a moving target. The practicalmodel integrates two waypoint generators for the path planning scenario: A

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29

Kok, Jonathan. "Design methodologies and architectures of hardware-based evolutionary algorithms for aerospace optimisation applications on FPGAS." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/72904/5/Jonathan_Kok_Thesis.pdf.

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This thesis is a study of new design methods for allowing evolutionary algorithms to be more effectively utilised in aerospace optimisation applications where computation needs are high and computation platform space may be restrictive. It examines the applicability of special hardware computational platforms known as field programmable gate arrays and shows that with the right implementation methods they can offer significant benefits. This research is a step forward towards the advancement of efficient and highly automated aircraft systems for meeting compact physical constraints in aerospac

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30

Forsmo, Erik Johannes. "Optimal Path Planning for Unmanned Aerial Systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18441.

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This thesis is a contribution to the Unmanned Aerial Vehicle (UAV) project at the Department of Engineering Cybernetics, which is a project where contributions from master students and Phd students will result in an autonomous aerial vehicle. The unmanned vehicle laboratory has its own UAV, the Odin Recce D6 delta-wing aircraft which is to be considered in the overall project. When the UAV is in the air on a mission, one important thing is to ensure that the UAV detects obstacles, such as mountains, buildings and other aircrafts. No-fly areas should be avoided by the path planner. This thesis

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31

Chaves, Áquila Neves. "Proposta de modelo de veículos aéreos não tripulados (VANTs) cooperativos aplicados a operações de busca." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/3/3141/tde-26072013-115944/.

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Os Veículos Aéreos Não Tripulados (VANTs) são ideais para operações de risco e estressante para o ser humano são as chamadas dull, dirty and dangerous missions. Portanto, uma importante aplicação desse tipo de robô aéreo diz respeito a operações de busca envolvendo múltiplos VANTs cooperativos, em que há risco de colisões entre aeronaves e o tempo de um voo é limitado, entre outros fatores, pela capacidade de um piloto trabalhar sem descanso. Entretanto, apesar de atualmente verificar-se um crescente número de pesquisas envolvendo VANTs e do grande potencial existente na utilização de VANTs,

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32

Castelli, Thomas. "Development of embedded image processing for low-altitude surveillance UAVs to assist operators in their mission." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSES034.

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Cette thèse, effectuée en partenariat entre la société Survey Copter, le laboratoire Hubert Curien et la Direction Générale de l’Armement (DGA), répond à des besoins tant militaires que civils dans le cadre de l’utilisation de drones à basse altitude. Dans un premier temps nous avons focalisé nos recherches sur la détection d’objets mobiles pour les mini-drones de surveillance destinés aux applications militaires, tels que ceux opérés par Survey Copter. Nous présentons d’abord la méthode que nous avons développé qui consiste en une comparaison entre un flot optique et le flot estimé, l’objecti

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Samaniego, Riera Franklin Eduardo. "Diseño de nuevos algoritmos de guiado y navegación con evasión de colisiones para vehículos aéreos no tripulados." Doctoral thesis, Universitat Politècnica de València, 2021. http://hdl.handle.net/10251/161274.

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[ES] Debido a la creciente popularidad sobre la variedad de los Vehículos No Tripulados tanto en el campo militar como en el comercial, y de sus capacidades para navegar por diversos entornos, ya sean terrestres, aéreos o marinos, se evidencia que la clásica planificación de trayectorias y movimientos bidimensionales 2D podría no ser suficiente en un futuro inmediato. De esta manera, se debe resaltar que el presente trabajo aborda el problema de los Vehículos Aéreos No Tripulados (UAVs) de ala fija. En este sentido, la necesidad de encontrar una trayectoria navegable en el espacio euclídeo 3D

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Ait, Saadi Amylia. "Coordination of scout drones (UAVs) in smart-city to serve autonomous vehicles." Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG064.

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Le sujet des véhicules aériens sans pilote (VAP) est devenu un domaine d'étude prometteurtant dans la recherche que dans l'industrie. En raison de leur autonomie et de leur efficacitéen vol, les drones sont considérablement utilisés dans diverses applications pour différentestâches. Actuellement, l'autonomie du drone est un problème difficile qui peut avoir un impactà la fois sur ses performances et sur sa sécurité pendant la mission. Pendant le vol, les dronesautonomes sont tenus d'investiguer la zone et de déterminer efficacement leur trajectoire enpréservant leurs ressources (énergie liée à

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Wagner, Anthony Julian. "Online Unmanned Ground Vehicle Mission Planning using Active Aerial Vehicle Exploration." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/90785.

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This work presents a framework for the exploration and path planning for a collaborative UAV and UGV system. The system is composed of a UAV with a stereo system for obstacle detection and a UGV with no sensors for obstacle detection. Two exploration algorithms were developed to guide the exploration of the UAV. Both identify frontiers for exploration with the Dijkstra Frontier method using Dijkstra's Algorithm to identify a frontier with unknown space, and the other uses a bi-directional RRT to identify multiple frontiers for selection. The final algorithm developed was for to give the UGV pa

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Gul, Ugur Dogan. "Navigation And Path Planning Of An Unmanned Underwater Vehicle." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614706/index.pdf.

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Due to the conditions peculiar to underwater, distinctive approaches are required to solve the navigation and path planning problem of an unmanned underwater vehicle (UUV). In this study, first of all, a detailed 6 degrees-of-freedom (DOF) mathematical model is formed, including the coupled non-linear forces and moments acting on an underwater vehicle. The hydrodynamic coefficients which correspond to the geometry of the vehicle which the model is based on are calculated using the strip theory. After the mathematical model is obtained, by applying appropriate linearization on the model, &ldquo

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Skjernov, Fredrik, and Oscar Palfelt. "Motion Planning for Aggressive Flights of an Unmanned Aerial Vehicle." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293765.

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This project presents a motion planning algorithmcapable of generating a quadrotor UAV trajectory between aninitial state and a goal state in an obstacle-cluttered environment.This trajectory is dynamically feasible, collision free and optimalby minimizing a cost function in jerk. The algorithm consistsof incrementally expanding a set of concatenated trajectoriesdefined as motion primitives, stored in a tree data structure, untila feasible high-level trajectory is found. TheA∗sorting algorithmis utilized to sort the tree by least cost, hence ensuring the optimaltrajectory is found. In case of

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Owen, Mark Andrew. "Aerial Rendezvous Between an Unmanned Air Vehicle and an Orbiting Target Vehicle." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2881.

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In this thesis we develop methods that facilitate an aerial rendezvous between two air vehicles. The objective of this research is to produce a method that can be used to insert a miniature air vehicle behind a rendezvous vehicle and then track that vehicle to enable a visual rendezvous. For this research we assume the rendezvous vehicle is following a relatively stable and roughly elliptical orbit. Path planners and controllers have been developed that can be used to effectively intercept the rendezvous vehicle by inserting the MAV onto the orbit of interest. A method for planning and followi

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Donadel, Rodrigo. "Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking." reponame:Repositório Institucional da UFSC, 2015. https://repositorio.ufsc.br/xmlui/handle/123456789/158766.

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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2015.<br>Made available in DSpace on 2016-02-09T03:01:12Z (GMT). No. of bitstreams: 1 337437.pdf: 7414111 bytes, checksum: 2bab6f7b0d4d376f975801166ea73051 (MD5) Previous issue date: 2015<br>Abstract : This master thesis deals with the modeling and control of a small scale birotor tiltrotor unmanned aerial vehicle (UAV). A tiltrotor is characterized by a mechanism that tilts the aircraft's rotors in order to control the flight. A

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Chakraa, Hamza. "Οptimisatiοn techniques fοr mοnitοring a high-risk industrial area by a team οf autοnοmοus mοbile rοbοts". Electronic Thesis or Diss., Normandie, 2024. http://www.theses.fr/2024NORMLH29.

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Cette thèse explore le développement et la mise en œuvre d’algorithmes d’optimisation pour la surveillance de zones industrielles à l’aide d’une équipe de robots mobiles autonomes. Le travail de recherche se concentre sur l’allocation de tâches multi-robots (MRTA), où un plan de mission quasi-optimal doit être généré. Un nouveau modèle prenant en compte des robots et des tâches hétérogènes est proposé, utilisant des algorithmes génétiques (GA) et une méthode de recherche locale 2-Opt pour résoudre le problème. La thèse intègre également des stratégies d’évitement des collisions, qui deviennent

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Misra, Sohum. "Infrastructure Planning for Unmanned Vehicle Navigation in Constrained Environments." University of Cincinnati / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1614079054152227.

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Liu, Y. "Path planning algorithms for unmanned surface vehicle formation in maritime environment." Thesis, University College London (University of London), 2016. http://discovery.ucl.ac.uk/1501049/.

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The research into unmanned surface vehicles (USVs) has received increasing attention in recent years due to the maturity of the technology. Potential deployments of USVs can been seen through both civilian and military applications with the benefits of improved mission efficiency and decreased resource costs. However, it should be noted that current USV platforms are generally of small size with low payload capacity and short endurance. To improve the effectiveness, there is a trend to deploy multiple USVs as a formation fleet. This thesis therefore primarily investigates the path planning pro

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Guthrie, Kyle Thomas. "Linear Parameter Varying Path Following Control of a Small Fixed Wing Unmanned Aerial Vehicle." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23740.

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A mathematical model of a small fixed-wing aircraft was developed through application of parameter estimation techniques to simulated flight test data. Multiple controllers were devised based on this model for path following, including a self-scheduled linear parameter-varying (LPV) controller with path curvature as a scheduling parameter. The robustness and performance of these controllers were tested in a rigorous MATLAB simulation environment that included steady winds and gusts, measurement noise, delays, and model uncertainties. The linear controllers designed within were found to be robu

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Du, Shu. "A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/24011.

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We propose a new dynamically feasible trajectory generation algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path planning into a more versatile framework that includes safe and dynamically feasible backward trajectories. We pose the backward trajectory generation problem as a finite-horizon optimal control problem and transform it into a nonlinear programming problem by utilizing the direct shooting method. The nonlin

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Ferreira, Thomas Ignatius. "Path planning for an unmanned terrestrial vehicle in an obstacle ridden environment." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/1775.

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Thesis (MEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.<br>This thesis relates to the successful development of an unmanned terrestrial vehicle (UTV) capable of operating in an obstacle ridden environment. The primary focus of the project is on the specific path planning algorithms. It is shown that specific methods of populating the obstacle-free space can be combined with methods of extracting the shortest path from these popula- tions. Through use of such combinations the successful generation of optimal collision-free paths is demonstrated. Previousl

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Yan, Yutong. "Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394.

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The purpose of this project is to implement obstacle avoidance algorithms to drive the articulated vehicle autonomously in an unknown environment, which is simulated by AgX Dynamics™ simulation software and controlled by Matlab® programming software. Three driving modes are developed for driving the vehicle (Manual, Semi-autonomous and Autonomous) in this project. Path tracking algorithms and obstacle avoidance algorithms are implemented to navigate the vehicle. A GUI was built and used for the manual driving mode in this project. The semi-autonomous mode checked different cases: change lanes,

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OSMAN, OSMAN ABDALLA SIDAHMED. "Autonomous Navigation for Unmanned Aerial Systems - Visual Perception and Motion Planning." Doctoral thesis, Politecnico di Torino, 2022. http://hdl.handle.net/11583/2971114.

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Pinar, Erdem Emre. "Energy Optimal Path Planning Of An Unmanned Solar Powered Aircraft." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615385/index.pdf.

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In this thesis, energy optimal route of an unmanned solar powered air vehicle is obtained for the given mission constraints in order to sustain the maximum energy balance. The mission scenario and the constraints of the solar powered UAV are defined. Equations of motion are obtained for the UAV with respect to the chosen structural properties and aerodynamic parameters to achieve the given mission. Energy income and loss equations that state the energy balance, up to the position of the UAV inside the atmosphere are defined. The mathematical model and the cost function are defined according to

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Curtis, Andrew B. "Path Planning for Unmanned Air and Ground Vehicles in Urban Environments." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2270.pdf.

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Chamberlain, Caleb H. "System Identification, State Estimation, and Control of Unmanned Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2605.

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This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path planners described in this thesis are used to guide a fixed-wing UAV along paths that optimize the aircraft's ability to track a ground target. Existing path planners in the literature either ignore occlusions entirely, or they have limited capability to handle different types of paths. The planners described in this thesis are novel in that they specifically account for the effect of occlusions in urban environments, and they can

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