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Design and implementation of test-bed for path planning and formation control of cooperative robotic agents

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/3279

Design and implementation of test-bed for path planning and formation control of cooperative robotic agents

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dc.contributor.author Majedi, Mike
dc.date.accessioned 2007-09-09T05:53:18Z
dc.date.available 2007-09-09T05:53:18Z
dc.date.issued 2007-09-09T05:53:18Z
dc.date.submitted July 2007
dc.identifier.uri http://hdl.handle.net/1928/3279
dc.description.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 ocean’s 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. en_US
dc.format.extent 1064998 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en_US
dc.subject Test-Bed en_US
dc.subject Robotics en_US
dc.subject.lcsh Mobile robots
dc.title Design and implementation of test-bed for path planning and formation control of cooperative robotic agents en_US
dc.type Thesis en_US
dc.description.degree Master of Science Electrical Engineering en
dc.description.level Masters en
dc.description.department University of New Mexico. Dept. of Electrical and Computer Engineering en
dc.description.advisor Abdallah, Chaouki
dc.description.committee-member Vadiee, Nader
dc.description.committee-member Tanner, Herert


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