MODELING AND CONTROL OF A CLASS OF AUTONOMOUS WHEELED MOBILE ROBOTS

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" MODELING AND CONTROL OF A CLASS OF AUTONOMOUS WHEELED MOBILE ROBOTS "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	151393
Doc. No	:	ET23185
Main Entry	:	Vikas Bahl
Title Proper	:	MODELING AND CONTROL OF A CLASS OF AUTONOMOUS WHEELED MOBILE ROBOTS
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Wheelcvi rnobilr: mlmts (WlIRs) Iiavt! beell an activr arm o f research and dcvelop-111(wt over tlw past tliree dtcadcls. Tliis long-tcrrn interest is 111airily becauscl of tlic viiriuuspractical applications WMRs car1 perbrr~i tluc to their ability to work ill hazarcloiis. po-tent idly rmst ruct urtd iilld h r g ~ rhnai~is. A h v applicat imis where WhIRs have bee11s~rccc!ssfr~lIy crnployctl arc i ) autolnol~ilc i~idustry. iiu r~ii~ie cscavatio~l. iiia planetary ex-ploration. t 11ia11-~nacliir~.-iiltc?rhcc?i fir peopl~ with i~r~pitirecl r~iohility. v j rvareliousernaterial liarltIlirig/i~ispec~tinri a d swl~rity. vii ~natcrials transportatiotl. rtc. Bascd nri thewich spectrum of applicatio~ls that M'SIRs car1 perforril. it is clcar that the WlIR rcscarcliis 11iuIt icliscipli~~y by uat urc. That is. t 110 iif~rc~~ierit ioiiccl applicatiorls rcquirc sttuncl nip-rlia~lical dtuigri. acrllrntc sclnsiug of t llc v~iviroli~ncilt. i~itelligerlt trajectory plari~iitig. a1lt1high precision cont ral.This t hesis co~icmtrates on tlic rnoclcli~lg. t rajcctory tracking. and actuator r w ~ t rolalgoritli~~is for ii class of o~nrli-cIirrctio~ia1 auto~ioniotw WMRs dcvclopetl at Utah StatcUniversity (USU) . Tla!sr o~nui-dirrct io~ial CVMRs Iiavtb ~nult iplr ' ~ n i i r t wllc~is." each wit ti....-....,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL46421.pdf
Title and statement of responsibility and	:	MODELING AND CONTROL OF A CLASS OF AUTONOMOUS WHEELED MOBILE ROBOTS [Thesis]