Browsing by Author "Bevly, David"

Now showing items 81-100 of 106

Pedestrian Navigation using Particle Filtering and a priori Building Maps

Ray, Tanner (2019-05-16)

This thesis presents a new particle filter (PF) weight update method that improves the performance of indoor positioning systems. In standalone inertial pedestrian-dead-reckoning (PDR) systems, the position error grows ...

Radar Aided INS Navigation Filter with Magnetometer Based Attitude Measurements

Williams, John (2018-12-11)

This thesis presents a method for GPS-free navigation using a radar-aided inertial navigation filter with a magnetometer based attitude measurement. GPS has become the popular tool of choice when considering navigation ...

Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination

Sherer, Tyler (2017-04-21)

In this thesis, Global Positioning System (GPS) and radar measurements are utilized in a multi-sensor architecture to achieve a confident relative positioning solution between two vehicles. A GPS solution providing a ...

Real-Time Graph-Based Path Planning for Autonomous Racecars

Keefer, Sarah Elizabeth (2023-07-27)

This thesis presents a computationally efficient graph-based motion planner designed for high speed autonomous racing. The emergence of autonomous racing competitions, such as the Indy Autonomous Challenge (IAC), have ...

A Real-time Implementation of Rendering Light Field Imagery for Generating Point Clouds in Vision Navigation

Rose, Christopher (2017-12-11)

This dissertation develops a real-time implementation of rendering perspective and refocused imagery from a light field camera for the generation of sparse point clouds using a traditional stereo camera approach, a ...

A Reduced Element Map Representation and Applications: Map Merging, Path Planning, and Target Interception

Park, Jinyoung (2017-07-25)

Modern autonomous systems require complex and heavy computations. The complexity can be reduced by eliminating or integrating redundant information. In the case of mobile vehicles, occupancy grid map representations are ...

Registration and Tracking of Objects with Computer Vision for Autonomous Vehicles

Nevin, Andrew (2009-04-15)

For this research, an autonomous leader-follower vehicle caravan is being designed using computer vision. The focus of this research is to investigate computer vision methods of identifying objects detected by the leader ...

Relative Position Vector Generation with Computer Vision for Vehicle Platooning Applications

Flegel, Tyler (2023-08-04)

Many significant advances have been made in autonomous vehicle technology over the recent decades. This includes platooning of heavy trucks. As such, many institutions have created their own version of the basic platooning ...

Roll & Bank Estimation Using GPS/INS and Suspension Deflections

Brown, Lowell (2012-07-25)

This thesis presents three methods that provide and estimate of road bank by decoupling the vehicle roll due to dynamics and roll due road bank. Suspension deflection measurements were used to provide a measurement of the ...

Simulation, Estimation, and Experimentation of Vehicle Longitudinal Dynamics That Effect Fuel Economy

Heffernan, Matthew (2006-08-15)

In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation ...

Simultaneous Localization Auto-Calibration and Mapping of Ground Vehicles

Britt, Jordan (2016-06-17)

This dissertation advances the state of the art of sensor auto-calibration by presenting a generic solution and analysis to the 3D sensor auto-calibration problem, as well as to the 2D simultaneous localization and ...

A Software and Hardware System for the Autonomous Control and Navigation of a Trained Canine

Britt, Winard (2009-07-20)

This dissertation demonstrates the autonomous command and navigation of a trained canine to multiple waypoints. A system is described consisting of a canine that can be guided autonomously to a number of waypoints by an ...

A Software Signal Simulation of Low Earth Orbit Satellites for Investigative Analysis

McDougal, Samuel (2023-05-02)

Simulation tools are an important part of the engineering design process by allowing changes in algorithms and processes before implementation. Current global navigation satellite systems (GNSSs) are mainly located in ...

Staying Inside the Lines: Vehicle Agnostic Path Following Using Cascaded Adaptive Control

Bryan, William (2020-11-30)

This thesis presents a vehicle agnostic steering controller for path following. Many active safety systems, such as collision avoidance and lane centering, as well as all SAE Level 2+ autonomous vehicles, rely on a lateral ...

Stream Function Path Planning and Control for Unmanned Ground Vehicles

Daily, Robert (2008-08-15)

This research develops a harmonic potential field based path planner and controller. The first component of the dissertation compares several analytical and numerical potential field generation methods. To overcome ...

A Study of Lateral and Longitudinal Tire Forces Produced on a Deformable Surface with Applied Traction and Braking

McIntyre, David Michael (2015-05-11)

An investigation into the effects that changing tire characteristics have on the production of lateral and longitudinal tire forces was conducted on a test wheel that was subjected to external traction and braking forces. ...

A Study of the Effects of Stochastic Inertial Sensor Errors in Dead-Reckoning Navigation

Wall, John (2007-08-15)

The research presented in this thesis seeks to quantify the error growth of navigation frame attitude, velocity, and position as solely derived from acceleration and rotation- rate measurements from a strapdown Inertial ...

A Study of the Properties That Influence Vehicle Rollover Propensity

Whitehead, Randall (2005-12-15)

In this thesis, a vehicle’s load condition is varied to investigate its impact on roll stability and a stability threshold is derived empirically using vehicle simulation. A vehicle model is developed and simulated using ...

Teleoperated Ground Vehicle Rollover Prediction via the ZMP Index using the Forward Euler Method

Steadman, Kathleen (2023-08-02) ETD File Embargoed

AUETD thesis upload not permitted without sponsor approval.

Terrain Characterization and Roughness Estimation for Simulation and Control of Unmanned Ground Vehicles

Dawkins, Jeremy (2011-12-02)

This dissertation presents a methodology for generating artificial terrains for simulation of off-road vehicles. Furthermore it develops and evaluates methods for characterizing the terrain for the control of unmanned ...