Motion Control Theory Needed in the Implementation of Practical Robotic Systems

Two areas of expertise required in the production of industrial and commercial robotics are motor control and obstacle navigation algorithms. This is especially true in the field of autonomous robotic vehicles, and this application will be the focus of this work. This work is divided into two parts. Part I describes the motor types and feedback devices available and the appropriate choice for a given robotics application. This is followed by a description of the control strategies available and appropriate for a variety of situations. Part II describes the vision hardware and navigation software necessary for an autonomous robotic vehicle. The conclusion discusses how the two parts are coming together in the emerging field of electric smart car technology. The content is aimed at the robotic vehicle designer. Both parts present a contribution to the field but also survey the required background material for a researcher to enter into development. The material has been made succinct and graphical wherever appropriate.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2000

Author dc:creator

• Mentz, James

Chair dc:contributor.committeechair

• VanLandingham, Hugh F.

Committee members dc:contributor.committeemember

• Conners, Richard W.
• Kachroo, Pushkin

• obstacle avoidance
• navigation
• robotics
• motion control

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-05042000-15390036

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/32172