Abstract
dc:description.abstractWith vast improvements in computing power in the last two decades, humans have invested significantly in engineering resources in an attempt to automate labor intensive or dangerous tasks. A particularly dangerous and labor-intensive task is painting lines on roads for facilitating urban mobility. This thesis proposes an approach to automate the process of painting lines on the ground using an autonomous ground vehicle (AGV) fitted with a stabilized painting mechanism. The AGV accepts Global Positioning System (GPS) coordinates for waypoint navigation. A computer vision algorithm is developed to provide vision feedback to stabilize the painting mechanism. The system is demonstrated to follow an input desired trajectory and cancel any high frequency vibrations due to the uneven terrain that the vehicle is traversing. Also, the stabilizing system is able to eliminate the long-term drift (due to inaccurate GPS waypoint navigation) using the complementary vision system.
Degree
thesis:*- Name thesis:degree_name
- MS
- 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
- 2019
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Nagi, Navneet Singh
- Chair dc:contributor.committeechair
-
- Leonessa, Alexander
- Committee members dc:contributor.committeemember
-
- Southward, Steve C.
- Akbari Hamed, Kaveh
Subjects
dc:subject × 3Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:18755
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/87564