||Localization and Control Applications of a Four-Wheel Steering and Four-Wheel Drive Mobile Robot
||Department of Electrical Engineering
Instantaneous Center of Rotation (ICR)
Rao-Blackwellized particle filter
Dynamic Window Approach (DWA)
This thesis is mainly to concern the localization and control applications of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot. The 4WS4WD combines with the benefits of the 4WD structure and the advantages of a 4WS system, which has the better performance of lateral dynamics. There are many topics combined with the 4WS4WD mobile robot such as motion control, self-localization based on a known map, obstacle avoidance, path planning and control strategy. The Instantaneous Center of Rotation (ICR) has been adopted for the 4WS4WD mobile robot. The localization based on known map carries out the Rao-Blackwellised particle filter method and it is computed via the distance measurement by a laser range finder and the movement of the robot estimated by an odometer. A mobile robot navigation system is used by the A* algorithm for path planning and the Dynamic Window Approach (DWA) safely controlled by the mobile robot is used for obstacle avoidance. The experimental results demonstrate that the robot can successfully conquer many kinds of terrain and carry out all the tasks in the 2011 SKS Intelligent Security Robot Competition.
List of Figures ⅥI
List of Tables Ⅹ
Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Thesis Organization 2
Chapter 2. Hardware of the 4WS4WD Mobile Robot 4
2.1 Introduction 4
2.2 Mechanism Design 5
2.3 Measurement and Vision System 7
2.3.1 Measurement System 8
2.3.2 Image Sensor 9
2.4 Actuators and Control Strategy System 10
2.4.1 Actuators 10
2.4.2 Central Processing Unit 12
2.5 Power System 14
2.6 Summary 16
Chapter 3. Motion Control and Localization System 17
3.1 Introduction 17
3.2 Measurement System 18
3.3 Motion Control System 22
3.3.1 Instantaneous Center of Rotation 23
3.3.2 Robotic Maneuver Control 27
3.4 Localization System 30
3.4.1 Rao-Blackwellized Particle Filter 31
3.4.2 Optimization for Localization Method 34
3.5 Summary 38
Chapter 4. Control Applications of the 4WS4WD Mobile Robot 39
4.1 Introduction 39
4.2 Rules of 2011 SKS Intelligent Security Robot Competition 40
4.3 Common Functions of the Control Strategy 43
4.3.1 Path Planning and Navigation 44
4.3.2 Obstacle Avoidance 46
4.3.3 Automatic Barriers Detection 48
4.4 The Framework of Control Strategy System 49
4.5 Summary 52
Chapter 5. Experimental Results 53
5.1 Introduction 53
5.2 Experimental Results of the Motion Control System 54
5.3 Experimental Results of Path Planning and Localization System 58
5.4 Experimental Results of SKS Intelligent Security Robot Competition 60
Chapter 6. Conclusion and Future Work 63
6.1 Conclusion 63
6.2 Future Work 64
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