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)
|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|
|Reuse Permissions||All Rights Reserved|
|Note||Masters Thesis Electrical Engineering 2016|
|Collaborating Institutions||Graduate College / ASU Library|
|Additional Formats||MODS / OAI Dublin Core / RIS|