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dc.contributor.advisorRoss, I. Michael
dc.contributor.authorHurni, Michael A.
dc.dateSeptember 2009
dc.date.accessioned2012-08-22T15:32:26Z
dc.date.available2012-08-22T15:32:26Z
dc.date.issued2009-09
dc.identifier.urihttp://hdl.handle.net/10945/10469
dc.description.abstractThis work introduces a new information-centric pseudospectral optimal control based algorithm for autonomous trajectory planning and control of unmanned ground vehicles with real-time information updates. It begins with a comprehensive study and comparison of the various path planning methods currently in use. It then provides an analysis of the optimal control method, including vehicle and obstacle modeling techniques, several different problem formulations, and a number of important insights on unmanned ground vehicle motion planning. The new algorithm is then utilized on a collection of motion planning scenarios with varying levels of information; the performance of the planner and the solution accuracies under these varying levels of information are studied for both single and multi-vehicle scenarios. The multi-vehicle scenarios compare and contrast centralized, decentralized, decoupled, coordinated, cooperative, and prioritized control methods. Finally, the versatility of the planner (and the optimal control technique) is demonstrated, as it is used as both a path follower and trajectory planner in a collection of scenarios, including multi-vehicle formations and sector keeping.en_US
dc.description.urihttp://archive.org/details/aninformationcen1094510469
dc.format.extentxx, 275 p. : col. ill. ; 28 cm.en_US
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.subject.lcshReal-time programming.en_US
dc.titleAn information-centric approach to autonomous trajectory planning utilizing optimal control techniquesen_US
dc.contributor.departmentMechanical Engineering
dc.subject.authorOptimal controlen_US
dc.subject.authorpseudospectralen_US
dc.subject.authorautonomous trajectory planningen_US
dc.subject.authorunmanned ground vehiclesen_US
dc.subject.authorreal-timeen_US
dc.subject.authorpath planningen_US
dc.subject.authorDIDOen_US
etd.thesisdegree.namePh.D. in Mechanical Engineeringen_US
etd.thesisdegree.levelDoctoralen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate School (U.S.)en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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