| Author | Dumunnage. Arunya Prasantha Senadeera Senadiri |
| Note | A thesis submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Estimating the terrain surface condition on a pre-defied path for wheel mobile robot is a challenging task in case of absence of slip ratio information. Most of wheel mobile robot are using different type of sensors to generate slip ratio and other surface condition estimation information. This research work introduces a simple novel method to estimate the terrain, using rolling resistance force without using any additional sensors. Reaction torque observer is used to obtain the rolling resistance torque in each terrain. Wheel Mobile Robot (WMR) can use to explore both indoor and outdoor terrains. In both conditions WMR encounters irregular surfaces as well as flat surfaces. WMR platforms frequently open to stop and go (acceleration/deceleration) conditions and commands, which can generate longitudinal shocks to the system. This research work contributes to address to have a proper mechanism and acceleration/deceleration control algorithm to suppress the shocks within the safe limits while maintaining the robot platform within allowable position error percentage, to self-guard the equipment that is being transported. |
| Year | 2017 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Abeykoon, A. M. Harsha S. |
| Examination Committee(s) | Manukid Parnichkun;Bohez, Erik L. J.; |
| Scholarship Donor(s) | AIT Fellowship; |
| Degree | Thesis (M.Eng.) -- Asian Institute of Technology, 2017 |