Keywords

robot, nonholonomic, complete coverage, control

Abstract

Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from which the control inputs are generated analytically. Optimal trajectory is generated using a method given in research literature and a qualitative analysis of the smooth trajectory is done. Cooperative sweeping of multirobots is achieved by dividing the area to be covered into smaller areas depending on the number of robots. Once the area is divided into sub areas, each robot is assigned a sub area for cooperative sweeping.

Notes

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Graduation Date

2005

Semester

Summer

Advisor

Guo, Yi

Degree

Master of Science (M.S.)

College

College of Engineering and Computer Science

Department

Electrical and Computer Engineering

Degree Program

Electrical Engineering

Format

application/pdf

Identifier

CFE0000641

URL

http://purl.fcla.edu/fcla/etd/CFE0000641

Language

English

Release Date

August 2005

Length of Campus-only Access

None

Access Status

Masters Thesis (Open Access)

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