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Thesis (M.S.)--Ohio University, June, 1985. / Title from PDF t.p.

Thesis (M.S.)--Virginia Polytechnic Institute and State University, 1992. / Vita. Abstract. Includes bibliographical references (leaves 137-140). Also available via the Internet.

Thesis (Ph. D.)--University of Hong Kong, 1999. / Includes bibliographical references.

Thesis (M.S.)--West Virginia University, 1999. / Title from document title page. Document formatted into pages; contains xiv, 429 p. : ill. (some col.). Vita. Includes abstract. Includes bibliographical references (p. 117-118).

Thesis (M.Phil.)--Hong Kong University of Science and Technology, 2006. / Includes bibliographical references (leaves 78-80). Also available in electronic version.

M.Sc. (Mathematical Statistics) / This dissertation deals with the computation of nonlinear control strategies for an autonomous vehicle. The vehicle consists of two wheels attached to an axle. It is assumed that both wheels roll without slipping leading to nonholonomic constraints. A third order nonlinear kinematic model of the vehicle is derived from these constraints. It is further assumed that the vehicle has builtin feedback controllers independently regulating the rotational velocities of the wheels (using electric motors as actuators). Thus, the vehicle is maneuvered by applying a separate rotational velocity reference command to the feedback controller of each wheel. The closed loop system dynamics from the reference command to the wheel rotational velocity is approximately modelled by a first order system. This leads to a fifth order nonlinear state-space model for the vehicle. The above-mentioned reference commands constitute the control input variables of the vehicle model and are subject to amplitude constraints. Firstly, a methodology is developed for computing reference command strategies to drive the autonomous vehicle from a specified initial state to a desired final state in a given time and such that a circular obstacle is avoided. The vehicle performs the required maneuver whilst satisfying all the specifications and constraints. Secondly, feedback reference command laws are developed such that a specified point just ahead of the vehicle asymptotically tracks a given reference trajectory in the horizontal plane. The feedback control law steers the vehicle onto the reference path from any initial position and keeps it moving on the path. Thirdly, the stochastic system performance is evaluated when the above-mentioned tracking control strategy is applied and the initial state of the vehicle is a random vector.

Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius.

Call number: LD2668 .T4 1985 R42 / Master of Science

Thesis (M.S.)--Texas State University-San Marcos, 2008. / Vita. Includes bibliographical references (leaves 43-46). Also available on microfilm.