2026-05-24T05:26:12Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1548812024-12-20T18:25:12Zoai_pmh:alloai_pmh:repo_items154881
https://hdl.handle.net/2286/R.I.40236
http://rightsstatements.org/vocab/InC/1.0/
All Rights Reserved
2016
xiv, 209 pages : illustrations (some color)
Masters Thesis
Academic theses
eng
Lu, Xianglong
Rodriguez, Armando Antonio
Berman, Spring
Artemiadis, Panagiotis
Arizona State University
Partial requirement for: M.S., Arizona State University, 2016
Includes bibliographical references (pages 145-146)
Field of study: Electrical engineering
To achieve the ambitious long-term goal of a feet of cooperating Flexible Autonomous<br/><br/>Machines operating in an uncertain Environment (FAME), this thesis addresses several<br/><br/>critical modeling, design, control objectives for rear-wheel drive ground vehicles.<br/><br/>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<br/><br/>that can be used for conducting FAME research.<br/><br/>A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities.<br/><br/>The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability<br/><br/>of commercially available vehicles costing over $2000.<br/><br/>All demonstrations presented involve rear-wheel drive FreeSLAM robot. The following<br/><br/>summarizes the key hardware demonstrations presented and analyzed: <br/><br/>(1)Cruise (v, ) control along a line, <br/><br/>(2) Cruise (v, ) control along a curve,<br/><br/>(3) Planar (x, y) Cartesian Stabilization for rear wheel drive vehicle, <br/><br/>(4) Finish the track with camera pan tilt structure in minimum time, <br/><br/>(5) Finish the track without camera pan tilt structure in minimum time, <br/><br/>(6) Vision based tracking performance with different cruise speed vx, <br/><br/>(7) Vision based tracking performance with different camera fixed look-ahead distance L, <br/><br/>(8) Vision based tracking performance with different delay Td from vision subsystem, <br/><br/>(9) Manually remote controlled robot to perform indoor SLAM,<br/><br/>(10) Autonomously line guided robot to perform indoor SLAM.<br/><br/>For most cases, hardware data is compared with, and corroborated by, model based<br/><br/>simulation data. In short, the thesis uses low-cost self-designed rear-wheel<br/><br/>drive robot to demonstrate many capabilities that are critical in order to reach the<br/><br/>longer-term FAME goal.
Electrical Engineering
Computer Science
Robotics
Control Theory
SLAM
Mobile robots
Vehicles, Remotely piloted--Design and construction.
Vehicles, Remotely piloted
Vehicles, Remotely piloted--Automatic control.
Vehicles, Remotely piloted
Modeling and control for vision based rear wheel drive robot and solving indoor SLAM problem using LIDAR