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 8 of 8 for “"Differential-Drive Robot"”.
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Navigation in an unfamiliar environment using signal intensity
… others within the family of bug algorithms. The robot is unable to access precise information regarding position coordinates, angular coordinates, time, or odometry, but is nevertheless able to navigate itself to a goal among unknown piecewise-analytic obstacles in the plane. The only sensor …
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Energy Modeling of Differential Drive Robots
<p>Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times. There has been a lot of work on optimizing energy consumption especially in mobile robots. Researchers have been focused on designing motion planning techniques …
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A Third-order Differential Steering Robot And Trajectory Generation In The Presence Of Moving Obstacles
In this thesis, four robots will be used to implement a collision-free trajectory planning/replanning algorithm. The existence of a chained form transformation so that the robot's model can be control in canonical form will be analyzed and proved. A trajectory generation for obstacles avoidance …
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Collision avoidance based on line of sight angle
Autonomous robots have gained a wide acceptance in our society in last few decades. With the advancement in technology, their presence in every sphere of life is rapidly increasing. Despite all the advancements, there is still a huge scope of improvement in many areas of robotics. Collision …
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Exploring Topological Environments
… building a map of the environment with a robot while simultaneously localizing the robot relative to that map. SLAM is generally regarded as one of the most important problems in the pursuit of building truly autonomous mobile robots. This thesis considers the SLAM problem within a …
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Ensemble control of robotic systems
… approximate steering algorithm for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded constant. The basic idea is to maintain the set of all possible configurations and to …
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Motion-Based Slide Correction Controller for Autonomous Vehicles
… expanding and heterogeneous field of wheeled robotics lacks an equivalent, standardised solution for managing slides. Existing methods are often model-dependent, requiring extensive, platform-specific characterisation that is impractical at the scale of robotic development. This thesis …
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Feedback control of many differential-drive robots with uniform control inputs
… of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and …