ASU Electronic Theses and Dissertations
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This thesis discusses control and obstacle avoidance for non-holonomic differential drive mobile vehicles. The two important behaviors for the vehicle can be defined as go to goal and obstacle avoidance behavior. This thesis discusses both behaviors in detail. Go to goal behavior is the ability of the mobile vehicle to go from one particular co-ordinate to another. Cruise control, cartesian and posture stabilization problems are discussed as the part of this behavior. Control strategies used for the above three problems are explained in the thesis. Matlab simulations are presented to verify these controllers. Obstacle avoidance behavior ensures that the vehicle …
- Chopra, Dhruv, Rodriguez, Armando A, Tsakalis, Konstantinos, et al.
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