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Modeling, Design and Control of Multiple Low-Cost Robotic Ground Vehicles


Abstract Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several

critical modeling, design and control objectives for ground vehicles. One central objective was to show how off-the-shelf (low-cost) remote-control (RC) “toy” vehicles can be converted into intelligent multi-capability robotic-platforms for conducting FAME research. This is shown for two vehicle classes: (1) six differential-drive (DD) RC vehicles called Thunder Tumbler (DDTT) and (2) one rear-wheel drive (RWD) RC car called Ford F-150 (1:14 scale). Each DDTT-vehicle was augmented to provide a substantive suite of capabilities as summarized below (It should be noted, however,... (more)
Created Date 2015
Contributor Lin, Zhenyu (Author) / Rodriguez, Armando Antonio (Advisor) / Rodriguez, Armando Antonio (Committee member) / Si, Jennie (Committee member) / Berman, Spring Melody (Committee member) / Arizona State University (Publisher)
Subject Electrical engineering / Robotics / cruise control / differential-drive / hierarchical inner-outer loop control / Mobile robots / obstacle avoidance / rear wheel drive
Type Masters Thesis
Extent 377 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Masters Thesis Electrical Engineering 2015
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis