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Image Processing Based Control of Mo...

Arizona State University.

Image Processing Based Control of Mobile Robotics.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Image Processing Based Control of Mobile Robotics.
作者:	Lopez, Jesus Aldaco.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, 2016
面頁冊數:	245 p.
附註:	Source: Masters Abstracts International, Volume: 56-01.
附註:	Adviser: Armando A. Rodriguez.
Contained By:	Masters Abstracts International56-01(E).
標題:	Electrical engineering.
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10160752
ISBN:	9781369156577

Image Processing Based Control of Mobile Robotics.
Lopez, Jesus Aldaco.

Image Processing Based Control of Mobile Robotics. - Ann Arbor : ProQuest Dissertations & Theses, 2016 - 245 p.

Source: Masters Abstracts International, Volume: 56-01.

Thesis (M.S.)--Arizona State University, 2016.

Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses various control objectives for ground vehicles. There are two main objectives within this thesis, first is the use of visual information to control a Differential-Drive Thunder Tumbler (DDTT) mobile robot and second is the solution to a minimum time optimal control problem for the robot around a racetrack.

ISBN: 9781369156577Subjects--Topical Terms:

454503
Electrical engineering.

Image Processing Based Control of Mobile Robotics.
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245 1 0 $a Image Processing Based Control of Mobile Robotics.
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500 $a Source: Masters Abstracts International, Volume: 56-01.
500 $a Adviser: Armando A. Rodriguez.
502 $a Thesis (M.S.)--Arizona State University, 2016.
520 $a Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses various control objectives for ground vehicles. There are two main objectives within this thesis, first is the use of visual information to control a Differential-Drive Thunder Tumbler (DDTT) mobile robot and second is the solution to a minimum time optimal control problem for the robot around a racetrack.
520 $a One method to do the first objective is by using the Position Based Visual Servoing (PBVS) approach in which a camera looks at a target and the position of the target with respect to the camera is estimated; once this is done the robot can drive towards a desired position (xref, z ref). Another method is called Image Based Visual Servoing (IBVS), in which the pixel coordinates (u,v) of markers/dots placed on an object are driven towards the desired pixel coordinates ( uref, vref) of the corresponding markers. By doing this, the mobile robot gets closer to a desired pose (x ref, zref, thetaref).
520 $a For the second objective, a camera-based and noncamera-based (v,theta) cruise-control systems are used for the solution of the minimum time problem. To set up the minimum time problem, optimal control theory is used. Then a direct method is implemented by discretizing states and controls of the system. Finally, the solution is obtained by modeling the problem in AMPL and submitting to the nonlinear optimization solver KNITRO. Simulation and experimental results are presented.
520 $a The DDTT-vehicle used within this thesis has different components as summarized below: (1) magnetic wheel-encoders/IMU for inner-loop speed-control and outer-loop directional control, (2) Arduino Uno microcontroller-board for encoder-based inner-loop speed-control and encoder-IMU-based outer-loop cruise-directional-control, (3) Arduino motor-shield for inner-loop speed-control, (4) Raspberry Pi II computer-board for outer-loop vision-based cruise-position-directional-control, (5) Raspberry Pi 5MP camera for outer-loop cruise-position-directional control.
520 $a Hardware demonstrations shown in this thesis are summarized: (1) PBVS without pan camera, (2) PBVS with pan camera, (3) IBVS with 1 marker/dot, (4) IBVS with 2 markers, (5) IBVS with 3 markers, (6) camera and (7) noncamera-based (v,theta) cruise control system for the minimum time problem.
590 $a School code: 0010.
650 4 $a Electrical engineering. $3 454503
650 4 $a Mechanical engineering. $3 190348
650 4 $a Mathematics. $3 184409
650 4 $a Robotics. $3 181952
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710 2 $a Arizona State University. $b Electrical Engineering. $3 708713
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