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 survey of recent publications, 1990-1996, of wheeled autonomous mobile robots for harsh environments. Various sensing, navigation, and motion control strategies commonly used on autonomous mobile robots are compared. The integration of all three systems in a system architecture is also presented. Following a general discussion of autonomous mobile robot technology, vehicles that have entered the Unmanned Ground Robotics Competition are presented as a focused study of the application of this broad field of research.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

1996

Author dc:creator

• Larkin, Susan M.

• autonomous mobile robots
• sensors
• path planning
• navigation
• motion control
• system architecture

Statement dc:rights

• In Copyright

Licence dc:rights.uri

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

Language dc:language.iso

en

Dc Identifier Other

etd-01312009-063343

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/40846