東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

System architectures and environment...

Cremean, Lars B.

Linked to FindBook

Google Book

Amazon

博客來

System architectures and environment modeling for high-speed autonomous navigation.

Record Type:	Electronic resources : Monograph/item
Title/Author:	System architectures and environment modeling for high-speed autonomous navigation./
Author:	Cremean, Lars B.
Description:	108 p.
Notes:	Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 6009.
Contained By:	Dissertation Abstracts International67-10B.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3236221
ISBN:	9780542904271

System architectures and environment modeling for high-speed autonomous navigation.
Cremean, Lars B.

System architectures and environment modeling for high-speed autonomous navigation. - 108 p.

Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 6009.

Thesis (Ph.D.)--California Institute of Technology, 2006.

Successful high-speed autonomous navigation requires integration of tools from robotics, control theory, computer vision, and systems engineering. This thesis presents work that develops and combines these tools in the context of navigating desert terrain.

ISBN: 9780542904271Subjects--Topical Terms:

783786
Engineering, Mechanical.

System architectures and environment modeling for high-speed autonomous navigation.
LDR:02298nmm 2200313 4500 001 1828724
005 20071024130544.5
008 130610s2006 eng d
020 $a 9780542904271
035 $a (UMI)AAI3236221
035 $a AAI3236221
040 $a UMI $c UMI
100 1 $a Cremean, Lars B. $3 1917611
245 1 0 $a System architectures and environment modeling for high-speed autonomous navigation.
300 $a 108 p.
500 $a Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 6009.
500 $a Adviser: Richard M. Murray.
502 $a Thesis (Ph.D.)--California Institute of Technology, 2006.
520 $a Successful high-speed autonomous navigation requires integration of tools from robotics, control theory, computer vision, and systems engineering. This thesis presents work that develops and combines these tools in the context of navigating desert terrain.
520 $a A comparative analysis of reactive, behavior-based, and deliberative control architectures provides important guidelines for design of robotic systems. These guidelines depend on the particular task and environment of the vehicle. Two important factors are identified which guide an effective choice between these architectures: dynamic feasibility for the vehicle, and predictability of the environment. This is demonstrated by parallels to control theory, illustrative examples, simulations, and analysis of Bob and Alice---Caltech's full-scale autonomous ground vehicle entries in the 2004 and 2005 Grand Challenge races, respectively.
520 $a Further, new model-based methods are developed for constructing and maintaining estimates of terrain elevation and road geometry. These are demonstrated in simulation and in fully autonomous operation of Alice, including accurate detection and tracking of the centerline of desert roads at speeds up to 5 m/s. Finally, Alice's navigation architecture is presented in full along with experimental results that demonstrate its capabilities.
590 $a School code: 0037.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Artificial Intelligence. $3 769149
690 $a 0548
690 $a 0771
690 $a 0800
710 2 0 $a California Institute of Technology. $3 726902
773 0 $t Dissertation Abstracts International $g 67-10B.
790 1 0 $a Murray, Richard M., $e advisor
790 $a 0037
791 $a Ph.D.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3236221