Готові списки джерел за темами / Waypoint tracking

Добірка наукової літератури з теми "Waypoint tracking"

Автор: Grafiati

Опубліковано: 11 листопада 2022

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Статті в журналах з теми "Waypoint tracking":

Ichihara, Kaito, Tadahiro Hasegawa, Shin’ichi Yuta, Hirohisa Ichikawa, and Yoshihide Naruse. "Waypoint-Based Human-Tracking Navigation for Museum Guide Robot." Journal of Robotics and Mechatronics 34, no. 5 (October 20, 2022): 1192–204. http://dx.doi.org/10.20965/jrm.2022.p1192.

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A visitor-following method that guides visitors as they move around was successfully developed without changing the structure of the waypoint navigation system. We previously developed a guidance robot, “EM-Ro,” to provide guidance services at the ECO35 Muffler Museum, and used the waypoint navigation system to implement a visitor-escort method along a predetermined route. With this visitor-following method, EM-Ro was able to follow a target visitor along visitor-derived waypoints, which were estimated using 2D LiDAR. Thus, the proposed navigation system for the guidance robot provides both visitor-escort and visitor-following guidance services. Using the same waypoint navigation system, it was possible to seamlessly switch between visitor-escort and visitor-following guidance. Switching between prepared or visitor-derived waypoints can make a visitor choose the preferred guidance method. Visitors can switch the guidance method anytime by providing EM-Ro requests from the remote controller. In addition, a guest redetecting method was developed when EM-Ro lost guests. The experimental results at the Muffler Museum showed that both visitor-escort and visitor-following driving by the EM-Ro were successfully demonstrated while guiding guests in the facility.

Kang, Cheongwoong, Bumjin Park, and Jaesik Choi. "Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances." Sensors 22, no. 1 (December 27, 2021): 150. http://dx.doi.org/10.3390/s22010150.

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Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control frequencies can be different for different environments. Therefore, we suggest a method to schedule the PID position and attitude control frequencies for time-optimal quadrotor waypoint tracking. The method includes (1) a Control Frequency Agent (CFA) that finds the best control frequencies in various environments, (2) a Quadrotor Future Predictor (QFP) that predicts the next state of a quadrotor, and (3) combining the CFA and QFP for time-optimal quadrotor waypoint tracking under unknown external disturbances. The experimental results prove the effectiveness of the proposed method by showing that it reduces the travel time of a quadrotor for waypoint tracking.

Lobo, Shawn. "Waypoint Based GPS Tracking." International Journal for Research in Applied Science and Engineering Technology 6, no. 3 (March 31, 2018): 2264–66. http://dx.doi.org/10.22214/ijraset.2018.3525.

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Gutiérrez, Rodrigo, Elena López-Guillén, Luis M. Bergasa, Rafael Barea, Óscar Pérez, Carlos Gómez-Huélamo, Felipe Arango, Javier del Egido, and Joaquín López-Fernández. "A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework." Sensors 20, no. 14 (July 21, 2020): 4062. http://dx.doi.org/10.3390/s20144062.

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Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.

AL TAHTAWI, ADNAN RAFI, ERICK ANDIKA, MAULANA YUSUF, and WILDAN NURFAUZAN HARJANTO. "Pengembangan Low-cost Quadrotor dengan Misi Waypoint Tracking Berbasis Pengendali PID." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 1 (January 31, 2020): 189. http://dx.doi.org/10.26760/elkomika.v8i1.189.

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ABSTRAK Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarmuka dan panel pengendali PID. Misi waypoint tracking dengan pengendali PID digunakan untuk menguji kinerja dari quadrotor yang dirancang. Hasil pengujian menunjukkan bahwa quadrotor dapat terbang secara autonomous pada dua buah skenario waypoint. Pengendali PID yang digunakan mampu menstabilkan sikap terbang quadrotor dengan maksimum overshoot kurang dari 4°. Kata kunci: Pengendali PID, sikap terbang, autonomous, waypoint, quadrotor ABSTRACT Quadrotor is one type of unmanned aircraft that can work autonomously in carrying out its duties. Some commercial quadrotor that can work autonomously have a relatively expensive price. This study aims to design and develop a lowcost quadrotor with a waypoint tracking mission based on PID controller. Quadrotor is designed using the Ardupilot Mega 2.6 module as flight controller. This module is suitable for the development of a low-cost quadrotor because it has been integrated with an interface and PID controller panel. The waypoint tracking mission with PID controller is used to test the performance of the designed quadrotor. The test results show that quadrotor can fly autonomously in two waypoint scenarios. The PID controller used is able to stabilize the quadrotor attitude with a maximum overshoot less than 4°. Keywords: PID controller, flight attitude, autonomous, waypoint, quadrotor

MISIR, Oğuz, Muhammed ÇELİK, and Levent GÖKREM. "Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots." Uluslararası Muhendislik Arastirma ve Gelistirme Dergisi 14, no. 2 (July 31, 2022): 799–815. http://dx.doi.org/10.29137/umagd.1118039.

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In this paper, a waypoint-based path tracking approach is suggested for the swarm robots to follow the desired path in an organized way. In the study, the applicability of the waypoint-based path tracking on the swarm robots that show flexible and scalable behavior has been demonstrated. To evaluate the proposed path planing approach with regard to scalability and flexibility, simulations have been applied in with/without obstacle arenas with different numbers of robots and according to different lookahead distances. With the proposed approach, each swarm robots exhibit swarm behavior in an organized manner depending on the distance of the lookahead to the path to track in the with / without obstacle arenas.

Xu, Chengtao, Kai Zhang, Yushan Jiang, Shuteng Niu, Thomas Yang, and Houbing Song. "Communication Aware UAV Swarm Surveillance Based on Hierarchical Architecture." Drones 5, no. 2 (April 30, 2021): 33. http://dx.doi.org/10.3390/drones5020033.

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Multi-agent unmanned aerial vehicle (UAV) teaming becomes an essential part in science mission, modern warfare surveillance, and disaster rescuing. This paper proposes a decentralized UAV swarm persistent monitoring strategy in realizing continuous sensing coverage and network service. A two-layer (high altitude and low altitude) UAV teaming hierarchical structure is adopted in realizing the accurate object tracking in the area of interest (AOI). By introducing the UAV communication channel model in its path planning, both centralized and decentralized control schemes would be evaluated in the waypoint tracking simulation. The UAV swarm network service and object tracking are measured by metrics of communication link quality and waypoints tracking accuracy. UAV swarm network connectivity are evaluated over different aspects, such as stability and volatility. The comparison of proposed algorithms is presented with simulations. The result shows that the decentralized scheme outperforms the centralized scheme in the mission of persistent surveillance, especially on maintaining the stability of inner UAV swarm network while tracking moving objects.

Oland, Espen, Rune Schlanbusch, and Raymond Kristiansen. "Underactuated Waypoint Tracking of a Fixed-Wing UAV*." IFAC Proceedings Volumes 46, no. 30 (2013): 126–33. http://dx.doi.org/10.3182/20131120-3-fr-4045.00007.

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Capello, Elisa, Giorgio Guglieri, and Gianluca Ristorto. "Guidance and control algorithms for mini UAV autopilots." Aircraft Engineering and Aerospace Technology 89, no. 1 (January 3, 2017): 133–44. http://dx.doi.org/10.1108/aeat-10-2014-0161.

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Purpose The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller. Findings Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.

Sun, Wenli, and Xu Gao. "Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–22. http://dx.doi.org/10.1155/2021/8926738.

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Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predicting navigation effect. Finally, two DNNs are connected in parallel with the control loop of USV to provide predictive supervision and auxiliary decision making for traditional control methods. This kind of parallel way conforms to the ship manipulation of habit. Furthermore, we develop a new application on the basis of Mission Oriented Operating Suite Interval Programming named “pDeepLearning.” It can predict the navigation effect online by DNN and adjust the guidance law parameters according to the effect level. The experimental results show that, compared with the original waypoint behavior of USV, the prediction model proposed in this study reduces the trajectory tracking error by 19.0% and increases the waypoint behavior effect level.

Більше джерел

Дисертації з теми "Waypoint tracking":

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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Sola, Yoann. "Contributions to the development of deep reinforcement learning-based controllers for AUV." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2021. http://www.theses.fr/2021ENTA0015.

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L’environnement marin est un cadre très hostile pour la robotique. Il est fortement non-structuré, très incertain et inclut beaucoup de perturbations externes qui ne peuvent pas être facilement prédites ou modélisées. Dans ce travail, nous allons essayer de contrôler un véhicule sous-marin autonome (AUV) afin d’effectuer une tâche de suivi de points de cheminement, en utilisant un contrôleur basé sur de l’apprentissage automatique. L’apprentissage automatique a permis de faire des progrès impressionnants dans de nombreux domaines différents ces dernières années, et le sous-domaine de l’apprentissage profond par renforcement a réussi à concevoir plusieurs algorithmes très adaptés au contrôle continu de systèmes dynamiques. Nous avons choisi d’implémenter l’algorithme du Soft Actor-Critic (SAC), un algorithme d’apprentissage profond par renforcement régularisé en entropie permettant de simultanément remplir une tâche d’apprentissage et d’encourager l’exploration de l’environnement. Nous avons comparé un contrôleur basé sur le SAC avec un contrôleur Proportionnel-Intégral-Dérivé (PID) sur une tâche de suivi de points de cheminement et en utilisant des métriques de performance spécifiques. Tous ces tests ont été effectués en simulation grâce à l’utilisation de l’UUV Simulator. Nous avons décidé d’appliquer ces deux contrôleurs au RexROV 2, un véhicule sous-marin téléguidé (ROV) de forme cubique et à six degrés de liberté converti en AUV. Grâce à ces tests, nous avons réussi à proposer plusieurs contributions intéressantes telles que permettre au SAC d’accomplir un contrôle de l’AUV de bout en bout, surpasser le contrôleur PID en terme d’économie d’énergie, et réduire la quantité d’informations dont l’algorithme du SAC a besoin. De plus nous proposons une méthodologie pour l’entraînement d’algorithmes d’apprentissage profond par renforcement sur des tâches de contrôle, ainsi qu’une discussion sur l’absence d’algorithmes de guidage pour notre contrôleur d’AUV de bout en bout
The marine environment is a very hostile setting for robotics. It is strongly unstructured, very uncertain and includes a lot of external disturbances which cannot be easily predicted or modelled. In this work, we will try to control an autonomous underwater vehicle (AUV) in order to perform a waypoint tracking task, using a machine learning-based controller. Machine learning allowed to make impressive progress in a lot of different domain in the recent years, and the subfield of deep reinforcement learning managed to design several algorithms very suitable for the continuous control of dynamical systems. We chose to implement the Soft Actor-Critic (SAC) algorithm, an entropy-regularized deep reinforcement learning algorithm allowing to fulfill a learning task and to encourage the exploration of the environment simultaneously. We compared a SAC-based controller with a Proportional-Integral-Derivative (PID) controller on a waypoint tracking task and using specific performance metrics. All the tests were performed in simulation thanks to the use of the UUV Simulator. We decided to apply these two controllers to the RexROV 2, a six degrees of freedom cube-shaped remotely operated underwater vehicle (ROV) converted in an AUV. Thanks to these tests, we managed to propose several interesting contributions such as making the SAC achieve an end-to-end control of the AUV, outperforming the PID controller in terms of energy saving, and reducing the amount of information needed by the SAC algorithm. Moreover we propose a methodology for the training of deep reinforcement learning algorithms on control tasks, as well as a discussion about the absence of guidance algorithms for our end-to-end AUV controller

Ho, Yueh-Sheng, and 何岳昇. "Design of a Waypoint-tracking Controller for a Biomimetic-autonomous Underwater Vehicle." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/20288048922278026639.

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碩士
國立臺灣大學
工程科學與海洋工程學系
91
We develop a control system for the waypoint-tracking of a biomimetic-autonomous underwater vehicle (BAUV). Basic swimming modes are determined. The BAUV swims forward by oscillating its body and caudal fin and turns by slanting its body and caudal fin to the side of turning direction. Because of the undulatory motion of BAUV, we take averages of swimming velocity and heading error during motion period as feedbacks to control the velocity and angular velocity of BAUV. We verify the effectiveness of control algorithms by simulations and experiments. Finally, we discuss the influence of control parameters on the swimming performance of the BAUV.

Частини книг з теми "Waypoint tracking":

Srinivas, Chinmay, and Sharanbassappa S. Patil. "A Waypoint Tracking Controller for Autonomous Vehicles Using CARLA Simulator." In Recent Advances in Hybrid and Electric Automotive Technologies, 197–206. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-2091-2_16.

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Park, Myeong-Chul, and Seok-Wun Ha. "The Visualization Tool of the Open-Source Based for Flight Waypoint Tracking." In Communications in Computer and Information Science, 153–61. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-20998-7_20.

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Alkurdi, L. M., and R. B. Fisher. "Visual Control of an Autonomous Indoor Robotic Blimp." In Robotic Vision, 352–70. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-2672-0.ch019.

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The problem of visual control of an autonomous indoor blimp is investigated in this chapter. Autonomous aerial vehicles have been an attractive platform for a wide range of applications, especially since they don’t have the terrain limitations the autonomous ground vehicles face. They have been used for advertisements, terrain mapping, surveillance, and environmental research. Blimps are a special kind of autonomous aerial vehicles; they are wingless and have the ability to hover. This makes them overcome the maneuverability constraints winged aerial vehicles and helicopters suffer from. The authors’ blimp platform also provides an exciting platform for the application and testing of control algorithms. This is because blimps are notorious for the uncertainties within their mathematical model and their susceptibility for environmental disturbances such as wind gusts. The authors have successfully applied visual control by using a fuzzy logic controller on the robotic blimp to achieve autonomous waypoint tracking.

Abbas, Roba, Katina Michael, M. G. Michael, and Anas Aloudat. "Emerging Forms of Covert Surveillance Using GPS-Enabled Devices." In Cases on Emerging Information Technology Research and Applications, 112–30. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-3619-4.ch006.

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This case presents the possibility that commercial mobile tracking and monitoring solutions will become widely adopted for the practice of non-traditional covert surveillance within a community setting, resulting in community members engaging in the covert observation of family, friends, or acquaintances. This case investigates five stakeholder relationships using scenarios to demonstrate the potential socio-ethical implications that tracking and monitoring will have on society. The five stakeholder types explored in this case include: (i) husband-wife (partner-partner), (ii) parent-child, (iii) employer-employee, (iv) friend-friend, and (v) stranger-stranger. Mobile technologies like mobile camera phones, global positioning system data loggers, spatial street databases, radio-frequency identification, and other pervasive computing can be used to gather real-time, detailed evidence for or against a given position in a given context. Limited laws and ethical guidelines exist for members of the community to follow when it comes to what is permitted when using unobtrusive technologies to capture multimedia and other data (e.g., longitude and latitude waypoints) that can be electronically chronicled. In this case, the evident risks associated with such practices are presented and explored.

Abbas, Roba, Katina Michael, M. G. Michael, and Anas Aloudat. "Emerging Forms of Covert Surveillance Using GPS-Enabled Devices." In Cases on Public Information Management and E-Government Adoption, 366–84. IGI Global, 2012. http://dx.doi.org/10.4018/978-1-4666-0981-5.ch016.

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A. Rendón, Manuel. "Quadrotor Unmanned Aerial Vehicles: Visual Interface for Simulation and Control Development." In Robotics Software Design and Engineering. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.97435.

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Quadrotor control is an exciting research area. Despite last years developments, some aspects demand a deeper analysis: How a quadrotor operates in challenging trajectories, how to define trajectory limits, or how changing physical characteristics of the device affects the performance. A visual interface development platform is a valuable tool to support this effort, and one of these tools is briefly described in this Chapter. The quadrotor model uses Newton-Euler equations with Euler angles, and considers the effect of air drag and propellers’ speed dynamics, as well as measurement noise and limits for propeller speeds. The tool is able to test any device just by setting a few parameters. A three-dimensional optimal trajectory defined by a set of waypoints and corresponding times, is calculated with the help of a Minimum Snap Trajectory planning algorithm. Small Angle Control, Desired Thrust Vector (DTV) Control and Geometric Tracking Control are the available strategies in the tool for quadrotor attitude and trajectory following control. The control gains are calculated using Particle Swarm Optimization. Root Mean Square (RMS) error and Basin of Attraction are employed for validation. The tool allows to choose the control strategy by visual evaluation on a graphical user interface (GUI), or analyzing the numerical results. The tool is modular and open to other control strategies, and is available in GitHub.

Тези доповідей конференцій з теми "Waypoint tracking":

Bauer, Peter, and Andrei Dorobantu. "Optimal waypoint guidance, trajectory design and tracking." In 2013 American Control Conference (ACC). IEEE, 2013. http://dx.doi.org/10.1109/acc.2013.6579936.

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Choi, Woo Young, Chang Mook Kang, Seung-Hi Lee, and Chung Choo Chung. "Waypoint tracking predictive control with vehicle speed variation." In 2017 11th Asian Control Conference (ASCC). IEEE, 2017. http://dx.doi.org/10.1109/ascc.2017.8287143.

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Lin, Pengfei, Woo Young Choi, Jin Ho Yang, and Chung Choo Chung. "Waypoint Tracking for Collision Avoidance Using Artificial Potential Field." In 2020 39th Chinese Control Conference (CCC). IEEE, 2020. http://dx.doi.org/10.23919/ccc50068.2020.9189037.

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Jeon, Soo Jung, Chang Mook Kang, Seung-Hi Lee, and Chung Choo Chung. "GPS waypoint fitting and tracking using model predictive control." In 2015 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2015. http://dx.doi.org/10.1109/ivs.2015.7225702.

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Castillo, C. L., W. Moreno, and K. P. Valavanis. "Unmanned helicopter waypoint trajectory tracking using model predictive control." In 2007 Mediterranean Conference on Control & Automation. IEEE, 2007. http://dx.doi.org/10.1109/med.2007.4433726.

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Ajay, Vibhute Akash, Adi P. Suherlan, Gim Song Soh, Shaohui Foong, Kristin Wood, and Kevin Otto. "Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47223.

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Pose estimation and trajectory tracking of a spherical rolling robot is a complex problem owing to kinematics and dynamics of the system and the constraint of not being able to add range sensors like ultrasonic or infrared distance sensors on the robot. The pose estimate for the robot under study, needs to be derived purely using inertial measurement unit (IMU) and odometry from analog wheel encoders, which in turn include high uncertainties. Adding to this, the system kinematic and dynamic model to accurately predict the behavior is quite complex. In this paper we present a simplified kinematic model, sensor filtering techniques and the control strategy adopted to locate and navigate the robot to a desired waypoint autonomously. A filter block provides clean heading output from the IMU and incremental pulses from an analog wheel encoder; the pose estimator uses heading and incremental pulses to calculate its position according to the system kinematic model. A pure-pursuit algorithm generates left & right wheel velocities to keep the robot on a commanded waypoint, using the robot kinematic model and localization data. The validity of our kinematic model and performance of our waypoint tracking are verified with the ground truth using a motion capture system and onboard sensors, where the application domain is bio-inspired, micro (small scale) robotics.

Bauer, Peter, and József Bokor. "Tuning and Improvements in a Waypoint and Trajectory Tracking Algorithm." In AIAA Guidance, Navigation, and Control Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2012. http://dx.doi.org/10.2514/6.2012-4604.

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Tang, Liqiong, and Phillip Abplanalp. "GPS guided farm mapping and waypoint tracking mobile robotic system." In 2014 IEEE 9th Conference on Industrial Electronics and Applications (ICIEA). IEEE, 2014. http://dx.doi.org/10.1109/iciea.2014.6931437.

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Oland, Espen, and Tom Stian Andersen. "Preliminary Results on Waypoint Tracking for Spacecraft with Actuator Constraints." In 2019 9th International Conference on Recent Advances in Space Technologies (RAST). IEEE, 2019. http://dx.doi.org/10.1109/rast.2019.8767812.

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Mathew, Robins, and Somashekhar S. Hiremath. "Development of Waypoint Tracking Controller for Differential Drive Mobile Robot." In 2019 6th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE, 2019. http://dx.doi.org/10.1109/codit.2019.8820389.

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Звіти організацій з теми "Waypoint tracking":

Mathew, Jijo K., Christopher M. Day, Howell Li, and Darcy M. Bullock. Curating Automatic Vehicle Location Data to Compare the Performance of Outlier Filtering Methods. Purdue University, 2021. http://dx.doi.org/10.5703/1288284317435.

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Agencies use a variety of technologies and data providers to obtain travel time information. The best quality data can be obtained from second-by-second tracking of vehicles, but that data presents many challenges in terms of privacy, storage requirements and analysis. More frequently agencies collect or purchase segment travel time based upon some type of matching of vehicles between two spatially distributed points. Typical methods for that data collection involve license plate re-identification, Bluetooth, Wi-Fi, or some type of rolling DSRC identifier. One of the challenges in each of these sampling techniques is to employ filtering techniques to remove outliers associated with trip chaining, but not remove important features in the data associated with incidents or traffic congestion. This paper describes a curated data set that was developed from high-fidelity GPS trajectory data. The curated data contained 31,621 vehicle observations spanning 42 days; 2550 observations had travel times greater than 3 minutes more than normal. From this baseline data set, outliers were determined using GPS waypoints to determine if the vehicle left the route. Two performance measures were identified for evaluating three outlier-filtering algorithms by the proportion of true samples rejected and proportion of outliers correctly identified. The effectiveness of the three methods over 10-minute sampling windows was also evaluated. The curated data set has been archived in a digital repository and is available online for others to test outlier-filtering algorithms.