Guidance and search algorithms for mobile robots.
The best performing algorithms from the single robot case are then adapted to a multi robot case. The mathematical model presented in the thesis describes the dynamics and kinematics of a four wheeled mobile ground based robot. The model is developed to allow the design and testing of control algorithms offline. With the model and accompanying.
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PhD Thesis: A Unified Design Framework for Mobile Robot Systems.
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An Analysis of Mobile Robot Navigation Algorithms in Unknown Environments James Ng This thesis is presented for the degree of Doctor of Philosophy of Engineering School of Electrical, Electronic and Computer Engineering February 2010 1. Abstract This thesis investigates robot navigation algorithms in unknown 2 dimensional environments with the aim of improving performance. The algorithms which.
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Abstract: Mobile robots tracking a reference trajectory are constrained by the motion limits of their actuators, which impose the requirement for high autonomy driving capabilities in robots. This paper presents a model predictive control (MPC) scheme incorporating neural-dynamic optimization to achieve trajectory tracking of nonholonomic mobile robots (NMRs). By using the derived tracking.
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This thesis aims at building a locomotion mechanism that forms the base of a complete mobile robot system capable of finding its way autonomously through a path filled with obstacles. To accomplish this task, locomotion mechanisms and their kinematics have to be studied, mechanisms have to be designed and developed. The implementation of high and low level operating systems and electronics is.
