• Login
    View Item 
    •   eScholar Home
    • Faculty of Engineering & Applied Science
    • Master Theses & Projects
    • View Item
    •   eScholar Home
    • Faculty of Engineering & Applied Science
    • Master Theses & Projects
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Reducing operational cost of an autonomous robot using combined data-driven and navigational algorithms

    Thumbnail
    View/Open
    She_Xu_Ting_(Pamela).pdf (6.677Mb)
    Date
    2021-04-01
    Author
    She, Xu Ting (Pamela)
    Metadata
    Show full item record
    Abstract
    Autonomous mobile robots have become an important presence in various fields of work, but are restricted by short operation times due to the limitations of their onboard energy sources. This factor bottlenecks applications of mobile robots in many situations. In this thesis, a data-driven power consumption model is developed based on the motion data of the robot. A path planning algorithm combining the rapid-exploring random tree and artificial potential field was developed for navigation. From this, a combined framework utilizing model predictive control as the control strategy to optimize motion and conserve power is proposed. The algorithm is implemented in a popular research platform, TurtleBot3, for validation in a dynamic environment. These tests were conducted on a flat surface using five different obstacle configurations, with obstacles being hidden from initial detection. The experimentation results demonstrate the effectiveness of the proposed algorithm framework in reducing the required power and calculation time.
    URI
    https://hdl.handle.net/10155/1302
    Collections
    • Electronic Theses and Dissertations [1336]
    • Master Theses & Projects [420]

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV
     

     

    Browse

    All of eScholarCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV