Advanced Control Design of an Autonomous Line Painting Robot

Painting still plays a fundamental role in communication nowadays. For example, the paint on the road, called road surface marking, guides the traffic in order and maintains the high efficiency of the entire modern traffic system. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, the mechanical and electronic design of a Painting Robot was discussed. The overall design was to fulfill the requirements of the line painting. Computer vision techniques were applied to this thesis since the camera was selected as the major sensor of the robot. Advanced control theory was introduced to this thesis as well. Three different controllers were developed. The Proportional-Integral (PI) controller with an anti-windup feature was designed to overcome the drawbacks of the traditional PI controller. Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot.

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

2017

Author dc:creator

• Cao, Mincan

Chair dc:contributor.committeechair

• Leonessa, Alexander

Committee members dc:contributor.committeemember

• Furukawa, Tomonari
• Steve, Southward

• Adaptive Control
• Painting Robot
• Computer Vision

Statement dc:rights

• Creative Commons Attribution-ShareAlike 3.0 United States

Licence dc:rights.uri

• http://creativecommons.org/licenses/by-nc-sa/3.0/us/

Language dc:language.iso

en_US

Handle dc:identifier.uri

http://hdl.handle.net/10919/78198

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/78198