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Non-holonomic Differential Drive Mobile Robot Control & Design : Critical Dynamics and Coupling Constraints

Abstract Mobile robots are used in a broad range of application areas; e.g. search and rescue, reconnaissance, exploration, etc. Given the increasing need for high performance mobile robots, the area has received attention by researchers. In this thesis, critical control and control-relevant design issues for differential drive mobile robots is addressed. Two major themes that have been explored are the use of kinematic models for control design and the use of decentralized proportional plus integral (PI) control. While these topics have received much attention, there still remain critical questions which have not been rigorously addressed. In this thesis, answers to the following critical questions are provided: When is 1. a kinematic model suffici... (more)
Created Date 2013
Contributor Anvari, Iman (Author) / Rodriguez, Armando A (Advisor) / Si, Jenni (Committee member) / Tsakalis, Konstantinos (Committee member) / Arizona State University (Publisher)
Subject Electrical engineering
Type Masters Thesis
Extent 144 pages
Language English
Reuse Permissions All Rights Reserved
Note M.S. Electrical Engineering 2013
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS

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Description Dissertation/Thesis