Parametrized maneuvers for autonomous vehicles
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2006
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| Online Access: | http://hdl.handle.net/1721.1/30328 |
| _version_ | 1826206914005958656 |
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| author | Dever, Christopher W. (Christopher Walden), 1972- |
| author2 | Eric Feron and Marc McConley. |
| author_facet | Eric Feron and Marc McConley. Dever, Christopher W. (Christopher Walden), 1972- |
| author_sort | Dever, Christopher W. (Christopher Walden), 1972- |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004. |
| first_indexed | 2024-09-23T13:40:53Z |
| format | Thesis |
| id | mit-1721.1/30328 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:40:53Z |
| publishDate | 2006 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/303282019-04-11T00:29:44Z Parametrized maneuvers for autonomous vehicles Dever, Christopher W. (Christopher Walden), 1972- Eric Feron and Marc McConley. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004. Includes bibliographical references (p. 197-209). This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a low-dimensional parameter vector that describes the fundamental high-level variations within the trajectory set. The method follows from a relaxation of nonlinear parametric programming necessary conditions that discards the objective function, leaving a simple coordinatized feasible space including all dynamically admissible vehicle motions. A trajectory interpolation algorithm uses projection and integration methods to create the classes, starting from arbitrary user-provided maneuver examples, including those obtained from standard nonlinear optimization or motion capture of human-piloted vehicle flights. The interpolation process, which can be employed for real-time trajectory generation, efficiently creates entire maneuver sets satisfying nonlinear equations of motion and nonlinear state and control constraints without resorting to iterative optimization. Experimental application to a three degree-of-freedom rotorcraft testbed and the design of a stable feedforward control framework demonstrates the essential features of the method on actual hardware. Integration of the trajectory classes into an existing hybrid system motion planning framework illustrates the use of parametrized maneuvers for solving vehicle guidance problems. The earlier relaxation of strict optimality conditions makes possible the imposition of affine state transformation constraints, allowing maneuver sets to fit easily into a mixed integer-linear programming path planner. (cont.) The combined scheme generalizes previous planning techniques based on fixed, invariant representations of vehicle equilibrium states and maneuver elements. The method therefore increases the richness of available guidance solutions while maintaining problem tractability associated with hierarchical system models. Application of the framework to one and two-dimensional path planning examples demonstrates its usefulness in practical autonomous vehicle guidance scenarios. by Christopher Walden Dever. Ph.D. 2006-03-24T18:40:40Z 2006-03-24T18:40:40Z 2004 2004 Thesis http://hdl.handle.net/1721.1/30328 61123448 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 209 p. 15366827 bytes 15392002 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Dever, Christopher W. (Christopher Walden), 1972- Parametrized maneuvers for autonomous vehicles |
| title | Parametrized maneuvers for autonomous vehicles |
| title_full | Parametrized maneuvers for autonomous vehicles |
| title_fullStr | Parametrized maneuvers for autonomous vehicles |
| title_full_unstemmed | Parametrized maneuvers for autonomous vehicles |
| title_short | Parametrized maneuvers for autonomous vehicles |
| title_sort | parametrized maneuvers for autonomous vehicles |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/30328 |
| work_keys_str_mv | AT deverchristopherwchristopherwalden1972 parametrizedmaneuversforautonomousvehicles |