Dissertation > Excellent graduate degree dissertation topics show

Outdoor mobile robot teleoperation systems and Path Planning

Author: SongXinDa
Tutor: DuYongGui
School: Taiyuan University of Technology
Course: Control Theory and Control Engineering
Keywords: Mobile Robots Teleoperation Path planning Fuzzy Control
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 91
Quote: 0
Read: Download Dissertation

Abstract


Outdoor mobile robot also called smart car, its research began in the 1970s, with initial funding mainly from the military-backed, early application areas are mainly concentrated in military research, such as military reconnaissance, cosmic adventure and nuclear power plants hazardous environment. Later, outdoor mobile robot in everyday life (such as transportation, social services, etc.) that have broad application prospects gradually attention has been paid. From the beginning of the 1980s, many government departments and related organizations have developed a development plan in this regard, a number of major automotive companies have also sought and research institutions to develop. Because today's outdoor mobile robot can not reach completely autonomous driving, so outdoor mobile robot teleoperation system and path planning as its core research content. Remote control operation is today the primary means of outdoor mobile robot, remote operating system determines the quality of the reliability of the mobile robot the broad scope of work. In this paper, several outdoor mobile robot experiment platform designed remote control system, designed remote control system hardware and software, details of the remote control system hardware structure, including an improved new data transmission channel to ensure data transmission stable and reliable, this paper also design applications with force feedback and a seamless handover technology control computer and the remote control system to improve the teleoperation system operability. Designed a remote operating system software system, steering wheel remote parts of the program joined the PID control. In the camera calibration theory based on the design of a new type of guided remote control, the operator can easily tap the touch screen by touching simplicity of the mobile robot control. In addition, the entire remote control system also includes GPS electronic map to give the operator a better observation of environmental information, a friendly man-machine interface and can lift omnidirectional antennas. A lot of wild experimental platform test, the test results show that the system can be adapted to a variety of outdoor complex environment, reliable and complete a variety of teleoperation tasks. This latter study outdoor mobile robot is another key technologies: path planning. After the introduction of several commonly used path planning method, the artificial potential field method based on fuzzy control is proposed based on artificial potential field path planning methods, and in the simulation software simulation, and then design a kinds of indoor car experimental platform, in addressing the car automatically identify issues relative coordinate points raised earlier, after verification of the path planning methods, experiments show that the path planning methods described herein can overcome the traditional artificial potential field method locally stable point of the question , with good usability. In addition, the paper concludes with a mobile trolley experimental platform experimentally validated three inadequacies and further research directions. In summary, this paper studied the outdoor mobile robot throughout the two key technologies, and have verified its feasibility through experiments, experiments show that the conclusions described herein improves the outdoor mobile robot manipulation flexibility and degree of intelligence, extends the outdoor mobile robot applications.

Related Dissertations

  1. Research of Image Guided Technology for Cable Tunnel Patrol Vehicle,U469.6
  2. Research on Navigation System Related Technology for Moving Objects under Dynamic Environment,TP301.6
  3. The Application of Fuzzy Control and Neural Network in Planar Double Inverted Pendulum,TP273.4
  4. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  5. Study on Adaptive Fuzzy Control Algorithm and Its Implementation,TP273.4
  6. The Grid-Connected Wind-solar Hybrid Generation System and Maximum Power Point Tracking,TM61
  7. Control System of Rotary Drying for Flake Agricultural Materials,S226.6
  8. Design and Research of a Multi-Use End-Effector for Harvesting Robot,S24
  9. The Design of Experimental Device for Mine Motor Soft Starter,TM343.2
  10. Mobile WSN data collection based on the virtual cluster head Strategy,TP212.9
  11. Saw motor energy-saving controller for tilting sand stone processing DSP-based research and development,TM343
  12. Medium Density Fiberboard Drying System and PLC Control System Design,TP273
  13. CAD/CAPP/CAM Integrated System Development for Key Components in Marine Diesel,U664.121
  14. Research on the Complete Coverage Path Planning Algorithm of Mobile Robot,TP242
  15. Design of Intelligent Supervisory Control System for Wastewater Treatment,TP277
  16. Research of Path Planning for Small-Size Intelligent Soccer Robot in Complex and Dynamic Environment,TP242
  17. Research on Optimal Global Path Planning for Complete Coverage with GPS Guidance on Tractor,TN967.1
  18. Optimal Control of Emulsion System in Cold Rolling,TP273
  19. Research on Grinding and Classification Process Control of Sijiaying Concentrator,TP29-A1
  20. The Design and Implementation of Soccer Robot for RoboCup Middle Size League,TP242
  21. Research on pH Value of the Control Technology for Acid-contained Wastewater Integrated Treatment System in Ningxia Hengli,TP273

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile