Multivariable mobile robot motion controller

This thesis presents a new architecture for a cross-coupled motion controller for a mobile robot. It is applicable to mobile robots driven by DC motors with the differential drive configuration. This configuration is very flexible as it permits both linear motion and steering to be controlled by the...

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Main Author: Okullo Oballa, Thomas S.
Other Authors: Chin, Leonard
Format: Theses and Dissertations
Language:English
Published: 2009
Subjects:
Online Access:http://hdl.handle.net/10356/19552
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-195522023-07-04T15:28:29Z Multivariable mobile robot motion controller Okullo Oballa, Thomas S. Chin, Leonard School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics This thesis presents a new architecture for a cross-coupled motion controller for a mobile robot. It is applicable to mobile robots driven by DC motors with the differential drive configuration. This configuration is very flexible as it permits both linear motion and steering to be controlled by the same pair of wheels. This flexibilty leads to a tradeoff between maintaining the robot's orientation and its speed. This thesis postulates that this tradeoff can be reduced by employing a higher level of abstraction in controlling such robots. Thus more variables are introduced into the controller each an abstraction of the physical variable they are to control. Such controllers can then manipulate each variable while adjusting the other as necessary to maintain their status quo. The overall abstract control outputs can then be translated back to their low level equivalent in accordance with the associated model and applied to the actuators. Master of Science (Computer Control and Automation) 2009-12-14T06:14:53Z 2009-12-14T06:14:53Z 1997 1997 Thesis http://hdl.handle.net/10356/19552 en NANYANG TECHNOLOGICAL UNIVERSITY 141 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Okullo Oballa, Thomas S.
Multivariable mobile robot motion controller
description This thesis presents a new architecture for a cross-coupled motion controller for a mobile robot. It is applicable to mobile robots driven by DC motors with the differential drive configuration. This configuration is very flexible as it permits both linear motion and steering to be controlled by the same pair of wheels. This flexibilty leads to a tradeoff between maintaining the robot's orientation and its speed. This thesis postulates that this tradeoff can be reduced by employing a higher level of abstraction in controlling such robots. Thus more variables are introduced into the controller each an abstraction of the physical variable they are to control. Such controllers can then manipulate each variable while adjusting the other as necessary to maintain their status quo. The overall abstract control outputs can then be translated back to their low level equivalent in accordance with the associated model and applied to the actuators.
author2 Chin, Leonard
author_facet Chin, Leonard
Okullo Oballa, Thomas S.
format Theses and Dissertations
author Okullo Oballa, Thomas S.
author_sort Okullo Oballa, Thomas S.
title Multivariable mobile robot motion controller
title_short Multivariable mobile robot motion controller
title_full Multivariable mobile robot motion controller
title_fullStr Multivariable mobile robot motion controller
title_full_unstemmed Multivariable mobile robot motion controller
title_sort multivariable mobile robot motion controller
publishDate 2009
url http://hdl.handle.net/10356/19552
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