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Modeling and Control for Vision Based Rear Wheel Drive Robot and Solving Indoor SLAM Problem Using LIDAR

Abstract 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-w... (more)
Created Date 2016
Contributor Lu, Xianglong (Author) / Rodriguez, Armando Antonio (Advisor) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Subject Electrical engineering / Computer science / Robotics / Control Theory / Robotics / SLAM
Type Masters Thesis
Extent 224 pages
Language English
Reuse Permissions All Rights Reserved
Note Masters Thesis Electrical Engineering 2016
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS

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Description Dissertation/Thesis
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Description Defense Presentation