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dc.contributor.authorKanarat, Amnarten_US
dc.date.accessioned2014-03-14T20:14:05Z
dc.date.available2014-03-14T20:14:05Z
dc.date.issued2004-05-10en_US
dc.identifier.otheretd-07172004-194611en_US
dc.identifier.urihttp://hdl.handle.net/10919/28316
dc.description.abstractThis dissertation addresses the problem of motion planning and control for nonholonomic mobile robots, particularly wheeled and tracked mobile robots, working in extreme environments, for example, desert, forest, and mine. In such environments, the mobile robots are highly subject to external disturbances (e.g., slippery terrain, dusty air, etc.), which essentially introduce uncertainties to the robot systems. The complexity of the motion planning problem is due to taking both nonholonomic and uncertainty constraints into account simultaneously. As a result, none of the conventional nonholonomic motion planning can be directly applied. The control problem is even more challenging since state constraints posed by obstacles in the environments must also be considered along with the nonholonomic and uncertainty constraints. In this research, we systematically develop a new type of motion planning technique that determines an optimal path for a mobile robot in a given environment. This motion planning technique is based on the idea of a maximum allowable uncertainty, which is a number assigned to each free configuration in the environment. The optimal path is a path connecting given initial and goal configurations through a series of configurations respecting the nonholonomic constraint and possessing the highest maximum allowable uncertainty. Both linear and quadratic approximations of the maximum allowable uncertainty, including their corresponding motion planners, have been studied. Additionally, we develop the first real-time robust control algorithm for the mobile robot under uncertainty to follow given paths safely and accurately in cluttered environments. The control algorithm also utilizes the concept of the maximum allowable uncertainty as well as the robust control theory. The simulation results have shown the effectiveness and robustness of the control algorithm in steering the mobile robot along a given path amidst obstacles without collisions even when the level of robot uncertainty is high.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartSourceCodes.pdfen_US
dc.relation.haspartKanaratETD.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectuncertaintyen_US
dc.subjectCUFen_US
dc.subjectoptimizationen_US
dc.subjectmobile roboten_US
dc.subjectrobust controlen_US
dc.subjectmotion planningen_US
dc.titleMotion Planning and Robust Control for Nonholonomic Mobile Robots under Uncertaintiesen_US
dc.typeDissertationen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreePh. D.en_US
thesis.degree.namePh. D.en_US
thesis.degree.leveldoctoralen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairSturges, Robert H.en_US
dc.contributor.committeememberLeo, Donald J.en_US
dc.contributor.committeememberReinholtz, Charles F.en_US
dc.contributor.committeememberWoolsey, Craig A.en_US
dc.contributor.committeememberAhmadian, Mehdien_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07172004-194611/en_US
dc.date.sdate2004-07-17en_US
dc.date.rdate2005-07-26
dc.date.adate2004-07-26en_US


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