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dc.contributor.authorSohal, Shubhdildeep Singhen_US
dc.date.accessioned2019-07-03T08:02:32Z
dc.date.available2019-07-03T08:02:32Z
dc.date.issued2019-07-02
dc.identifier.othervt_gsexam:21251en_US
dc.identifier.urihttp://hdl.handle.net/10919/90889
dc.description.abstractActive docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of larger robotic systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. The proposed self-reconfigurable mobile robot design exhibits dual mobility using a tracked drive for longitudinal locomotion and wheeled drive for lateral locomotion. The two degrees of freedom (DOF) docking interface referred to as GHEFT (Genderless, High strength, Efficient, Fail-Safe, high misalignment Tolerant) allows for an efficient docking while tolerating misalignments in 6-DOF. In addition, motion along the vertical axis is also achieved via an additional translational DOF, allowing for toggling between tracked and wheeled locomotion modes by lowering and raising the wheeled assembly. This thesis also presents a visual-based onboard Hybrid Target Tracking algorithm to detect and follow a target robot leading to autonomous docking between the modules. As a result of this proposed approach, the tracked features are then used to bring the robots in sufficient proximity for the docking procedure using Image Based Visual Servoing (IBVS) control. Experimental results to validate the robustness of the proposed tracking method, as well as the reliability of the autonomous docking procedure, are also presented in this thesis.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectSelf-reconfigurable Mobile robotsen_US
dc.subjectAutonomous dockingen_US
dc.subjectMechatronicsen_US
dc.subjectVisual Servoingen_US
dc.subjectImage processingen_US
dc.subjectTarget detection and trackingen_US
dc.titleA Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modulesen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairBen-Tzvi, Pinhasen_US
dc.contributor.committeememberFurukawa, Tomonarien_US
dc.contributor.committeememberWicks, Alfred L.en_US


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