Browsing by Author "Bevly, David"

Now showing items 61-80 of 106

Methods for Improving Visual Terrain Relative Navigation for Dynamic Aerial Systems

Castleberry, Matthew (2021-04-26)

One popular means of aerial localization and navigation in GPS-denied environments is visual terrain relative navigation. Terrain relative navigation involves performing image registration with sensed aerial camera imagery ...

Methods for Minimizing Navigation Errors Induced by Ground Vehicle Dynamics

Travis, William (2006-05-15)

A navigation system was designed using an extended Kalman filter for an autonomous ground vehicle competing in the 2005 DARPA Grand Challenge. An overview of this system is provided, and errors in the navigation solution ...

Methods of Optimal Control for Fuel Efficient Class-8 Vehicle Platoons Over Uneven Terrain

Ward, Jacob (2022-08-18)

This thesis implements an NMPC control system to facilitate fuel-optimal platooning of class-8 vehicles over challenging terrain. Prior research has shown that Cooperative Adaptive Cruise Control (CACC), which allows ...

Modeling and Performance Analysis of GPS Vector Tracking Algorithms

Lashley, Matthew (2009-12-17)

This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates ...

Modeling and Validation of Hitched Loading Effects on Tractor Yaw Dynamics

Pearson, Paul (2007-05-15)

This thesis develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications as well as for new automated ...

Modeling Inertial Measurement Units and Anlyzing the Effect of Their Errors in Navigation Applications

Flenniken, Warren (2005-12-15)

In this thesis, a simple model that statistically represents an Inertial Measurement Unit (IMU) output has been studied. This model is then expanded to produce a model that incorporates terms that account for errors ...

Modelling, Control and Estimation Techniques For Micromachined Electrostatic Actuators Using Macro Magnetic Actuators

Li, Chong (2016-07-29)

Parallel plate actuators (PPAs) are fundamental devices in micro-electro-mechanical systems. PPAs' main drawback is their limited open loop stable traveling range which is caused by their nonlinear electrostatic force. ...

Multi-Antenna GPS for Improved Carrier Phase Positioning in Autonomous Convoys

Tabb, Thomas Troupe (2019-07-29)

In this thesis, low-cost differential Global Positioning System (DGPS) techniques are developed for use in automated vehicle convoying. Global Positioning System (GPS) pseudorange and carrier-phase measurements are used ...

A Multi-Antenna Vector Tracking Beamsteering GPS Receiver for Robust Positioning

Burchfield, Scott (2022-05-17)

This thesis proposes the coupling of a Global Positioning System (GPS) L1 C/A vector tracking software-defined receiver with controlled reception pattern array array (CRPA) satellite constrained beamsteering, i.e. a ...

A Multiple-Antenna Software GPS Signal Simulator for Rapid Testing of Interference Mitigation Techniques

Powell, Russell (2016-12-12)

This thesis details the design of a software GPS signal simulator and illustrates how it can be used to support rapid testing of GPS interference mitigation research. The MATLAB-based signal simulator is capable of generating ...

Non-collocated Control of an Autonomous Robot-Trailer System Using State Estimation

Payne, Michael (2012-04-09)

In this work, the author develops an observer and non-collocated controller for a robot-trailer system in which only the position of the trailer is measured. A linearized state-space model of the system is derived using ...

A Nonlinear Model Predictive Control Algorithm for an Unmanned Ground Vehicle on Variable Terrain

Eick, Andrew (2016-12-12)

This thesis presents a Nonlinear Model Predictive Controller (NMPC) for an Unmanned Ground Vehicle (UGV) capable of controlling the vehicle over both smooth and rough terrain using measurements from GPS and a Light Detection ...

A Numerical Analysis of Heterogeneous and Homogeneous Truck Platoon Aerodynamic Drag Reduction

Siemon, Michael (2018-07-31)

The purpose of this study was to provide an analysis of the aerodynamic phenomena involved with the platooning of multiple truck-trailer configurations. With fuel usage being a large factor in high operational costs of ...

Observability-Informed Measurement Validation for Visual-Inertial Navigation

Boler, Matthew (2022-05-04)

This thesis presents a measurement validation method for visual-inertial navigation and an implementation of a visual-inertial estimator which makes use of it. Many autonomous plat- forms, especially flying ones, rely ...

Obstacle Avoidance of an Unmanned Ground Vehicle using a Combined Approach of Model Predictive Control and Proportional Navigation

Shaw, Ryan (2018-12-06)

This thesis presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). A special focus was placed on moving obstacles that interfere with the planned path of the vehicle, this is due to the ...

On-line Estimation of Implement Dynamics for Adaptive Steering Control of Farm Tractors

Gartley, Evan (2005-12-15)

An adaptive control technique for the control of a farm tractor during low levels of excitation and at low velocities is presented. Results of a set of system identification experiments are compared to previous tractor ...

Online Autonomous Extrinsic Calibration of an Inertial Measurement Unit using Gaussian Radial Basis Function Neural Networks

Mifflin, Gregory (2023-08-07)

This thesis presents a fully online and autonomous method to extrinsically calibrate an inertial measurement unit (IMU) to the body frame of a vehicle. Extrinsic sensor calibration is an important step in obtaining valid ...