Electrical and Computer Engineering ETDs

Author

Mike Majedi

Publication Date

9-9-2007

Abstract

Robots are primary candidates to perform dangerous but controlled missions. They carry cameras, surveillance instruments, and sensors to collect information and relay their findings to their human operators. Man is continuously challenged to seek uncharted territories such as outer space and the oceans depths. Robot data collection allows for an operator to collect data in environments where it may be unsafe for humans to do so. It also allows for humans to perform inconvenient and tedious tasks such as waiting, and collecting information over long periods of time. In this thesis, we propose to design and implement a test-bed platform, which may be used to control multiple Robots. These robotic platforms are essentially mobile wireless programmable robots with the processing power of a laptop computer. The robots consist of two mechanically motorized differential drive kinematics systems. We then discuss the capabilities of our platform with basic behaviors such as: path-to-goal, avoid-obstacle, maintain relative distance, maintain relative angle (formation), and maintain general speed to form a guidance algorithm. Furthermore we use the kinematic model of a two differential steering systems to derive the inverse kinematic equations, and generate any type of trajectory within the physical constrains of the system.'

Keywords

Mobile robots

Document Type

Thesis

Language

English

Degree Name

Electrical Engineering

Level of Degree

Masters

Department Name

Electrical and Computer Engineering

First Advisor

Abdallah, Chaouki

Second Advisor

Vadiee, Nader

First Committee Member (Chair)

Tanner, Herert

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