ETDs

This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.

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Modeling and control for vision based rear wheel drive robot and solving indoor SLAM problem using LIDAR

Description
To achieve the ambitious long-term goal of a feet of cooperating Flexible Autonomous

Machines operating in an uncertain Environment (FAME), this thesis addresses several

critical modeling, design, control objectives for rear-wheel drive ground vehicles.

Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how…

To achieve the ambitious long-term goal of a feet of cooperating Flexible Autonomous

Machines operating in an uncertain Environment (FAME), this thesis addresses several

critical modeling, design, control objectives for rear-wheel drive ground vehicles.

Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how to build low-cost multi-capability robot platform

that can be used for conducting FAME research.

A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities.

The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability

of commercially available vehicles costing over $2000.

All demonstrations presented involve rear-wheel drive FreeSLAM robot. The following

summarizes the key hardware demonstrations presented and analyzed:

(1)Cruise (v, ) control along a line,

(2) Cruise (v, ) control along a curve,

(3) Planar (x, y) Cartesian Stabilization for rear wheel drive vehicle,

(4) Finish the track with camera pan tilt structure in minimum time,

(5) Finish the track without camera pan tilt structure in minimum time,

(6) Vision based tracking performance with different cruise speed vx,

(7) Vision based tracking performance with different camera fixed look-ahead distance L,

(8) Vision based tracking performance with different delay Td from vision subsystem,

(9) Manually remote controlled robot to perform indoor SLAM,

(10) Autonomously line guided robot to perform indoor SLAM.

For most cases, hardware data is compared with, and corroborated by, model based

simulation data. In short, the thesis uses low-cost self-designed rear-wheel

drive robot to demonstrate many capabilities that are critical in order to reach the

longer-term FAME goal.
ContributorsLu, Xianglong (Author) / Rodriguez, Armando Antonio (Thesis advisor) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2016