This thesis summarizes an approach for building a trajectory-tracking framework for autonomous robots working in low-speed and controlled space. A modularized robot framework can provide easy access to hardware and software replacement, which can be a tool for validating trajectory-tracking algorithms in controlled laboratory conditions.
An introduction to other existing methods for trajectory tracking is presented. These advanced trajectory control methods and studies aim to improve trajectory tracking control for better performance under different environments.
This research uses ROS as the middleware for connecting the actuators and computing units. A market-existing global position measurement tool, the UWB system, was selected as the primary localization sensor. A Raspberry Pi and an Arduino Uno are used for high-level and low-level control. The separation of the control units benefits the modularization design of the framework. A robust control approach has also been introduced to prevent the disturbance of uneven terrain to improve the framework's capability to drive arbitrary robot chassis in different testing grounds. During each stage of development, there are offline and online tests for live control tests.
The trajectory tracking controller requires a robot kinematic model and tracking control program for better results of controlled behaviour. A custom trajectory control program was made and implemented into the tests. A digital simulation and a physical robot are built to validate the algorithm and the designed framework for performance validation. This framework aims to suit the other scholar's developments and can be used as a testing platform to implement their autonomous driving algorithms or additional sensors. By replacing the control algorithm in the existing trajectory-tracking robotic framework, this autonomous, universal platform may benefit the validation of these algorithms' performance in the field experiment. / Thesis / Master of Applied Science (MASc) / This thesis contains five chapters.
Chapter 1 provided the information and background for this research topic regarding the key components, methods, and tools for creating trajectory tracking.
Chapter 2 focuses on the existing methods and deep study of tools, equipment and hardware setups for trajectory tracking in simulation and physical setups. The experiments referenced from other studies can benefit the research and development work for the current trajectory tracking development work. The review provides different kinematics models for robot layouts, which impacts the final design of the field experiment robot.
Chapter 3 presents the design work process for creating a controller based on the final field experiment robot. This chapter provides steps and considerations while building the control system for a trajectory-tracking robot from scratch.
Chapter 4 demonstrates the simulation results and field experiment results. A study of error analysis and repeatability justification can also be found in this chapter.
Chapter 5 summarizes the research and development contribution, primary findings, and concerns for identified problems.
| Identifer | oai:union.ndltd.org:mcmaster.ca/oai:macsphere.mcmaster.ca:11375/28563 |
| Date | January 2023 |
| Creators | Zhao, Yizhou |
| Contributors | Yan, Fengjun, Mechanical Engineering |
| Source Sets | McMaster University |
| Language | English |
| Detected Language | English |
| Type | Thesis |
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