| Author | Rerngwut Choomuang |
| Call Number | AIT Diss. no.ISE-05-04 |
| Subject(s) | Mobile robots
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| Note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Dissertation ; no. ISE-05-04 |
| Abstract | There have been a lot of researches on autonomous mobile robot navigation problem which attempt to develop the navigation system base on real time, precise and robustness of the mobile robot. The approached of navigation system is developed various application system of mobile robot, will have capability control. This system will adapt to the systematic/non systematic error and other events in unknown environments. However the best solution for the above problem still can not be implemented successfully with ease. A priori knowledge of robot executing the motion need to real-time and precisely. The above mentioned requirements have forced us to find new approaches and techniques to solve the involved problems of motion control for autonomous mobile robot. Specifically, we combining an obstacle avoidance technique with stereo vision system achieve image information to detect an object. Currently, there is no integrated approach for putting together all the subsystems. Therefore, it was our goal of this study to develop the new hybrid control algorithm by using the Kalman Filter, Fuzzy Logic and Obstacle avoidance with stereo vision system for autonomous mobile robot. This proposed system integrates many sensors to support the mobile robot such as odometry, compass, position sensor and stereo vision camera. This new mobile robot control system used embedded PC (PC104) for master controller and microcontroller for slave controller get information of each sensor. The concept of hybrid control for autonomous mobile robot was illustrated as sequential work in research. The sequential work can be divided into three main parts. The first part is the obstacle avoidance is used a stereo vision technique to detect an object. This stereoprocessing information was sent the object location to avoiding module is determining angle of obstacle avoidance and difference distance between current position and destination position by mathematics equation. This part has to acquire the angle and distance error information by reference goal position for next part. Second part has task to generate velocity of left and right motor for robot movement which using angle and distance error achieve from first part by Fuzzy Logic technique. Finally, the robot performs to improving motion which acquires information from odometry, compass and position sensors by Extended Kalman Filter technique. In this research, simulation and experiment were compared the performance of the proposed algorithm for robot movement by moving in unknown environment with only Fuzzy Logic Control and combination of Extended Kalman Filter and Fuzzy Logic Control technique. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Dissertation ; no. ISE-05-04 |
| Type | Dissertation |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Kusanagi, Michiro;Manukid Parnichkhun;Makhanov, Stanislav;Zielinska, Teresa; |
| Scholarship Donor(s) | Sripatum University; |
| Degree | Thesis (Ph.D.) - Asian Institute of Technology, 2005 |