Free motion and obstacle avoidance control for mobile robots.

dc.contributor.advisor	Necsulescu, D.,
dc.contributor.author	Kim, Bumsoo.
dc.date.accessioned	2009-03-23T16:01:31Z
dc.date.available	2009-03-23T16:01:31Z
dc.date.created	1992
dc.date.issued	1992
dc.degree.level	Masters
dc.degree.name	M.Sc.A.
dc.description.abstract	Mobile robot motion control has been extensively studied based on a simplified mobile robot and actuator dynamic model. Free ion and obstacle avoidance require suitable robot and actuator models and the integration of sensor information into the system controller. In the present thesis, artificial impedance approach is used for developing the controller of an autonomous mobile robot. The control law is based on a Newtonian dynamics model of mobile the robot. Range sensor information is used in the trajectory correction for avoiding collision with obstacles. Simulation results illustrate the performance of the impedance based controller.
dc.format.extent	111 p.
dc.identifier.citation	Source: Masters Abstracts International, Volume: 33-04, page: 1326.
dc.identifier.isbn	9780315935877
dc.identifier.uri	http://hdl.handle.net/10393/7663
dc.identifier.uri	http://dx.doi.org/10.20381/ruor-6904
dc.publisher	University of Ottawa (Canada)
dc.subject.classification	Engineering, Mechanical.
dc.title	Free motion and obstacle avoidance control for mobile robots.
dc.type	Thesis

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