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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Indoor mobile robot navigation with continuous localization.

January 1999 (has links)
by Lam Chin Hung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 60-64). / Abstracts in English and Chinese. / Acknowledgments --- p.ii / List of Figures --- p.v / List of Tables --- p.vii / Abstract --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Algorithm Outline --- p.7 / Chapter 2.1 --- Assumptions --- p.7 / Chapter 2.2 --- Robot Localization --- p.8 / Chapter 2.3 --- Algorithm Outline --- p.11 / Chapter 3 --- Global and Local Maps --- p.15 / Chapter 3.1 --- Feature Selection --- p.17 / Chapter 3.2 --- Line Correspondence --- p.18 / Chapter 3.3 --- Map Representation --- p.20 / Chapter 3.3.1 --- Global Map --- p.21 / Chapter 3.3.2 --- Local Map --- p.22 / Chapter 3.4 --- Integration of Multiple Local 2D Maps --- p.24 / Chapter 4 --- Localization Algorithm --- p.27 / Chapter 4.1 --- Robot Orientation --- p.28 / Chapter 4.2 --- Robot Position --- p.29 / Chapter 4.2.1 --- Match Function --- p.30 / Chapter 4.2.2 --- Search Algorithm --- p.31 / Chapter 4.3 --- Continuous Localization with Retroactive Pose Update --- p.32 / Chapter 5. --- Implementation and Experiments --- p.35 / Chapter 5.1 --- Computing Robot Orientation --- p.36 / Chapter 5.2 --- Robot Position by Map Registration --- p.42 / Chapter 5.2.1 --- Error Analysis --- p.47 / Chapter 5.3 --- Discussions --- p.49 / Chapter 6. --- Conclusion --- p.52 / Appendix --- p.54 / Chapter A.l --- Intrinsic and Extrinsic Parameters --- p.54 / Chapter A.2 --- Relation Between Cameras (Stereo Camera Calibration) --- p.55 / Chapter A.3 --- Wheel-Eyes Calibration --- p.56 / Chapter A.4 --- Epipolar Geometry --- p.58 / Chapter A.5 --- The Tele-operate Interface --- p.59 / References --- p.60
2

The implementation of a person tracking mobile robot.

January 2004 (has links)
Chan Hung-Kwan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2004. / Includes bibliographical references (leaves 100-101). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Analysis of a tracking robot system: Challenges --- p.2 / Chapter 1.2.1 --- Vision approach: Detecting a moving ob- ject from a moving background in real-time --- p.2 / Chapter 1.2.2 --- Non-vision sensor approach: The determi- nation of the angle of the target --- p.3 / Chapter 1.2.3 --- Emitter-and-receiver approach --- p.4 / Chapter 2 --- Literature Review --- p.5 / Chapter 2.1 --- People Detection --- p.5 / Chapter 2.1.1 --- Background Subtraction --- p.5 / Chapter 2.1.2 --- Optical Flow --- p.6 / Chapter 2.2 --- Target Tracking Sensors --- p.7 / Chapter 3 --- Hardware and Software Architecture --- p.8 / Chapter 3.1 --- Camera --- p.8 / Chapter 3.2 --- Software --- p.8 / Chapter 3.3 --- Hardware --- p.9 / Chapter 3.4 --- Interface --- p.12 / Chapter 3.5 --- The USB Remote Controller --- p.12 / Chapter 4 --- Vision --- p.17 / Chapter 4.1 --- Vision Challenges --- p.17 / Chapter 4.1.1 --- Detecting a moving object from a moving background --- p.17 / Chapter 4.1.2 --- High-speed in real-time --- p.19 / Chapter 4.2 --- Leg Tracking by Binary Image --- p.19 / Chapter 4.3 --- Algorithm --- p.20 / Chapter 4.4 --- Advantages --- p.22 / Chapter 4.5 --- Limitations --- p.22 / Chapter 4.6 --- "Estimation of the distance, d, by vision" --- p.23 / Chapter 4.6.1 --- A more accurate version --- p.23 / Chapter 4.6.2 --- Inaccuracies --- p.25 / Chapter 4.7 --- Future Work: Estimation of the distance by both vision sensor and ultrasonic sensor --- p.25 / Chapter 4.7.1 --- Ruler-based Sensor Fusion --- p.26 / Chapter 4.7.2 --- Learning-based Sensor Fusion --- p.27 / Chapter 5 --- Control --- p.28 / Chapter 5.1 --- Control of the Camera --- p.28 / Chapter 5.1.1 --- "Estimation of the Angle, Ψ" --- p.29 / Chapter 5.2 --- Kinematic Modeling of the Robot --- p.30 / Chapter 5.3 --- The Time Derivatives of d and Ψ --- p.36 / Chapter 5.4 --- Control of the Robot --- p.38 / Chapter 5.5 --- Steering Angle and Overshooting --- p.41 / Chapter 5.5.1 --- Steering Angle Gain --- p.41 / Chapter 5.5.2 --- Small Gain --- p.41 / Chapter 6 --- Obstacle Avoidance --- p.43 / Chapter 6.1 --- Ultrasonic sensor configurations --- p.45 / Chapter 6.2 --- Approach of Control --- p.46 / Chapter 6.3 --- Algorithm --- p.49 / Chapter 6.4 --- Robot Travelling Distance Determination --- p.50 / Chapter 6.5 --- Experimental Result 1 --- p.53 / Chapter 6.6 --- Experimental Result 2 --- p.55 / Chapter 6.7 --- New ideas on the system --- p.57 / Chapter 7 --- Tracking Sensor --- p.60 / Chapter 7.1 --- Possible Methods --- p.61 / Chapter 7.1.1 --- Magnet and Compass --- p.61 / Chapter 7.1.2 --- LED --- p.61 / Chapter 7.1.3 --- Infra-red : Door Minder --- p.62 / Chapter 7.2 --- Rangefinders --- p.64 / Chapter 7.2.1 --- Configuration --- p.65 / Chapter 7.2.2 --- Algorithm --- p.67 / Chapter 7.2.3 --- Wireless Ultrasonic Emitter-receiver Pair . --- p.68 / Chapter 7.2.4 --- Omni-directional Emitter --- p.74 / Chapter 7.2.5 --- Experiments --- p.75 / Chapter 7.2.6 --- Future Work --- p.79 / Chapter 8 --- Experiments and Performance Analysis --- p.80 / Chapter 8.1 --- Experiments --- p.80 / Chapter 8.2 --- Current Performance of the Tracking Robot --- p.85 / Chapter 8.3 --- Considerations on the System Speed and Subsys- tem Speeds --- p.85 / Chapter 8.4 --- Driving and Steering work in the same time --- p.86 / Chapter 8.5 --- Steering Motor --- p.87 / Chapter 8.5.1 --- Encoders --- p.87 / Chapter 8.6 --- Driving Motor --- p.87 / Chapter 8.6.1 --- Speed --- p.87 / Chapter 8.6.2 --- Speed Range --- p.87 / Chapter 8.7 --- Communication of the Vision Part and Control Part --- p.88 / Chapter 9 --- Conclusion --- p.92 / Chapter 9.1 --- Contributions --- p.92 / Chapter 9.2 --- Future Work --- p.93 / Chapter A --- Mobile Robot Construction --- p.97 / Bibliography --- p.101
3

Integrated planning and control of mobile manipulators and robots using differential flatness

Ryu, Ji Chul. January 2009 (has links)
Thesis (Ph.D.)--University of Delaware, 2009. / Principal faculty advisor: Sunil K. Agrawal, Dept. of Mechanical Engineering. Includes bibliographical references.
4

Reactive path shaping : local path planning for autonomous mobile robots in aisles

Schmitt, Paul Richard 05 1900 (has links)
No description available.
5

Self-organization in large populations of mobile robots /

Ünsal, Cem, January 1993 (has links)
Thesis (M.S.)--Virginia Polytechnic Institute and State University, 1993. / Vita. Abstract. Includes bibliographical references (leaves 124-127). Also available via the Internet.
6

Modelling and control of an autonomous vehicle

Sabatta, Deon George 14 August 2012 (has links)
M.Ing. / This thesis deals with the modelling and control of an autonomous four-wheeled car-like vehicle. The autonomous vehicle is built on the chassis of a Tamiya TXT-1, one-tenth scale, off-road remote control truck. The simplified kinematic and dynamic models of this vehicle are derived for the purposes of control. These models are converted to a suitable form and control laws are then developed to perform set-point control as well as path following. A sonar array is constructed to permit the vehicle to sense its surroundings and construct a map of an unknown environment as it navigates through it. Lastly the Vector Field Histogram (VFH) obstacle avoidance algorithm is implemented and used to guide the vehicle through a sparsely populated environment without colliding with the obstacles.
7

Omni-directional locomotion for mobile robots

Carter, Brian Edward. January 2001 (has links)
Thesis (M.S.)--Ohio University, June, 2001. / Title from PDF t.p.
8

Mobile robot for search and rescue

Litter, Jansen J. January 2004 (has links)
Thesis (M.S.)--Ohio University, June, 2004. / Title from PDF t.p. Includes bibliographical references (leaves 98-100).
9

Mechatronic Design Of A Completely Mechanical Quick Changeable Joint For Multi-Purpose Explosive Ordnance Disposal Robots/

Kor, Mehmet Bahattin. Keçeci, Mehmet Faruk January 2006 (has links) (PDF)
Thesis (Master)--İzmir Institute of Technology, İzmir, 2006. / Keywords: Quick changeable joint, self locking mechanism, joint for EOD robot. Includes bibliographical References (leaves. 47).
10

Modeling spatial references for unoccupied spaces for human-robot interaction /

Blisard, Samuel N. January 2004 (has links)
Thesis (M.S.)--University of Missouri-Columbia, 2004. / Typescript. Includes bibliographical references (leaves 110-113). Also available on the Internet.

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