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Trajectory Planning with Dynamics-Aw...

Moscicki, Travis.

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Trajectory Planning with Dynamics-Aware Parabolic Blends.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Trajectory Planning with Dynamics-Aware Parabolic Blends./
Author:	Moscicki, Travis.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
Description:	155 p.
Notes:	Source: Dissertations Abstracts International, Volume: 82-11, Section: B.
Contained By:	Dissertations Abstracts International82-11B.
Subject:	Ocean engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28539953
ISBN:	9798738634925

Trajectory Planning with Dynamics-Aware Parabolic Blends.
Moscicki, Travis.

Trajectory Planning with Dynamics-Aware Parabolic Blends. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 155 p.

Source: Dissertations Abstracts International, Volume: 82-11, Section: B.

Thesis (Ph.D.)--Florida Atlantic University, 2021.

This item must not be sold to any third party vendors.

This thesis presents the concept of dynamics-aware parabolic blends for an unmanned surface vehicle. Typically, trajectory generation techniques consider only kinematic constraints on a vehicle. By transforming the equations of motion for a surface vehicle to the body fixed frame, the dynamical constraints on the system are more intuitively integrated into the trajectory generator, when compared to working in the Earth fixed frame. Additionally, the accelerations, velocities, and positions generated by the parabolic blend algorithm are incorporated into the dynamic equations of motion for the vehicle to provide the feedforward control input of a two degree of freedom control law. The feedback control input of the two degree of freedom scheme is an integral sliding mode control law, which tracks the error between the vehicle state and the desired states generated by the novel parabolic blend technique. The approach is numerically validated through simulation, where the described control law demonstrates a 71.93\\% reduction in error when compared to a standard proportional-derivative control law subjected to the same desired trajectory. Furthermore, on water experiments were performed using both a proportional-derivative control law and an integral sliding mode control law. Both showed the ability to track the proposed parabolic blend approach.

ISBN: 9798738634925Subjects--Topical Terms:

660731
Ocean engineering.
Subjects--Index Terms:

Dynamics-aware

Trajectory Planning with Dynamics-Aware Parabolic Blends.
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245 1 0 $a Trajectory Planning with Dynamics-Aware Parabolic Blends.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 155 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-11, Section: B.
500 $a Advisor: von Ellenrieder, Karl.
502 $a Thesis (Ph.D.)--Florida Atlantic University, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a This thesis presents the concept of dynamics-aware parabolic blends for an unmanned surface vehicle. Typically, trajectory generation techniques consider only kinematic constraints on a vehicle. By transforming the equations of motion for a surface vehicle to the body fixed frame, the dynamical constraints on the system are more intuitively integrated into the trajectory generator, when compared to working in the Earth fixed frame. Additionally, the accelerations, velocities, and positions generated by the parabolic blend algorithm are incorporated into the dynamic equations of motion for the vehicle to provide the feedforward control input of a two degree of freedom control law. The feedback control input of the two degree of freedom scheme is an integral sliding mode control law, which tracks the error between the vehicle state and the desired states generated by the novel parabolic blend technique. The approach is numerically validated through simulation, where the described control law demonstrates a 71.93\\% reduction in error when compared to a standard proportional-derivative control law subjected to the same desired trajectory. Furthermore, on water experiments were performed using both a proportional-derivative control law and an integral sliding mode control law. Both showed the ability to track the proposed parabolic blend approach.
590 $a School code: 0119.
650 4 $a Ocean engineering. $3 660731
650 4 $a Computer engineering. $3 621879
650 4 $a Computer science. $3 523869
653 $a Dynamics-aware
653 $a Trajectory generation
653 $a Unmanned Vehicles
653 $a Unmanned Surface Vehicle
653 $a Trajectory planning
690 $a 0547
690 $a 0984
690 $a 0464
710 2 $a Florida Atlantic University. $b Ocean Engineering. $3 3173823
773 0 $t Dissertations Abstracts International $g 82-11B.
790 $a 0119
791 $a Ph.D.
792 $a 2021
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28539953