Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 19 of 19 for “"Autonomous Mobile Robot"”.
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Autonomous Mobile Robot Positioning using Unscented HydridSLAM
… and mapping (SLAM) is a process in which a mobile robot travels through an environment and concurrently makes a momentary map of the environment and uses that map to localize itself. The simultaneous localization and mapping is currently one of the most challenging problems in the field of …
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Vector Distance Transform Maps for Autonomous Mobile Robot Navigation
Robot localization, where the position and the orientation of a mobile robot is estimated based on an 𝘢 𝘱𝘳𝘪𝘰𝘳𝘪 map, is a fundamental problem in autonomous mobile robot navigation. In this thesis, we present how environments can be represented using the vector distance transform for mobile robot …
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Line Detection and Lane Following for an Autonomous Mobile Robot
The Autonomous Challenge component of the Intelligent Ground Vehicle Competition (IGVC) requires robots to autonomously navigate a complex obstacle course. The roadway-type course is bounded by solid and broken white and yellow lines. Along the course, the vehicle encounters obstacles, painted …
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Cooperative control of autonomous mobile robot collectives in payload transportation
… control of a homogeneous collection of autonomous mobile robots in the lifting and lowering processes of payload transportation. Unlike previous applications of behavior-based control to payload transportation, we examine control of a payload in a vertical plane. Others before have …
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Design and development of an autonomous mobile robot for parking lot mapping
Autonomous mobile robots have become a viable solution for advancing parking lot infrastructures to be autonomously patrolled and surveyed remotely. Towards this goal, this thesis presents a monocular vision-based perception system that generates a visually interpretable parking lot map using a …
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A semi-autonomous mobile robot/teleoperator with applications as an aid for severely handicapped people
… a personal computer allows the user to command a robot to move about a structured indoor environment as well as control household appliances. Underlying these functions is a user-generated computer model of the environment which maintains spatial and relational information about household items. …
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Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning
Operation of Autonomous Mobile Robots (AMRs) of all forms that include wheeled ground vehicles, quadrupeds and humanoids in dynamically changing GPS denied environments without a-priori maps, exclusively using onboard sensors, is an unsolved problem that has potential to transform the economy, and …
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Object Detection and Collaboration in Heterogeneous Multi-Robot Systems
With the development of novel technologies, robots are becoming more widely used in everyday applications. Compared with a single robot, Multi-Robot Systems (MRS) are more powerful and cost effective. This thesis will introduce a complete heterogeneous distributed MRS which contains an autonomous …
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A METHOD FOR DYNAMIC BALANCE
… of this skill to operations of a truly unstable autonomous mobile robot would be useful in dealing with an unstructured environment. This thesis describes the dynamic balance of a single link inverted pendulum in flat and changing terrains. A gravity sensing technique has been developed and …
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Wheeled autonomous mobile robots for use in harsh environments: a survey of recent publications
Research in the area of autonomous mobile robots has increased over the last several years. Autonomous mobile robots are now being used in a wide variety of applications, including nuclear plant maintenance, interplanetary exploration, military missions and smart highway systems. This thesis is a …
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Persistent autonomous exploration, mapping and localization
… localization and mapping tasks for an autonomous mobile robot with battery constraints. First, we present modifications to baseline frontier exploration on an occupancy grid that makes the robot's frontier exploration more efficient. Second, we describe the new software structure and …
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Design of Mobile Robot for use as a Teaching Platform and Autonomous Navigation and Object Avoidance
… the depth of learning possible In the field of robotics. However, we are many times limited by the methods we choose to teach ourselves and others. As a result, I looked at the current teaching platforms used, along with others available in the market, and found there was room for something more …
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Design and Development of Intelligent Navigation Control Systems for Autonomous Robots that Uses Neural Networks and Fuzzy Logic Techniques and Fpga For Its Implementation
This research compares the behavior of three robot navigation controllers namely: PID, Artificial Neural Networks (ANN), and Fuzzy Logic (FL), that are used to control the same autonomous mobile robot platform navigating a real unknown indoor environment that contains simple geometric-shaped static …
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Real-time predictive modeling and robust avoidance of pedestrians with uncertain, changing intentions
To plan safe trajectories in urban environments, autonomous vehicles must be able to interact safely and intelligently with other dynamic agents. Due to the inherent structure of these environments, drivers and pedestrians tend to exhibit a common set of motion patterns. The challenges are …
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On maximum-reward motion in stochastic environments
In this thesis, we consider the problem of an autonomous mobile robot operating in a stochastic reward field to maximize total rewards collected in an online setting. This is a generalization of the problem where an unmanned aerial vehicle (UAV) collects data from randomly deployed unattended …
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Towards an Augmented Reality-based Cyber-Physical Production System Planner
… infrastructure and continuous technical support. Robotic integration is typically performed by specialized third-party firms or by in-house staff with extensive technical training, such as engineers. SME manufacturers are particularly sensitive to the complexities of robot integration due to …
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Reliable goal-directed reactive control of autonomous mobile robots
… demonstrates that effective control of autonomous mobile robots in real-world environments can be achieved by combining reactive and deliberative components into an integrated architecture. The reactive component allows the robot to respond to contingencies in real time. Deliberation …
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Conception of a flexible workpiece carrier to enable automated activities during transportation using a mobile manipulator
… ensuring optimal use of time and equipment. Mobile manipulators, which combine an autonomous mobile robot with a collaborative robot, have emerged as promising solutions for integrating transport and manipulation in a single system. However, existing studies and industrial implementations …
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Guidance and search algorithms for mobile robots: application and analysis within the context of urban search and rescue
… rescue workers and for this reason the use of mobile robots to carry out the search of the environment is becoming common place. These robots are remotely operated and the search is carried out by the robot operator. This work proposes that common search algorithms can be used to guide a single …