Intelligent mobility controllers for a robotic vehicle climbing obstacles autonomously

Simple item page
dc.contributor.advisorSun, Qiao
dc.contributor.authorVincent, Isabelle
dc.date.accessioned2017-12-18T21:43:07Z
dc.date.available2017-12-18T21:43:07Z
dc.date.issued2008
dc.descriptionBibliography: p. 81-86en
dc.description.abstractResearch in mobile robot navigation has demonstrated some success in navigating a flat world while avoiding obstacles. However, algorithms which analyze complex environments in order to climb obstacles have had very little success due to the complexity of the task. This thesis aims to design a controller for a mobile robot to autonomously climb obstacles by adapting its geometric configuration. Three control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. A reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. As a scripted controller is difficult to design for every possible circumstance, learning algorithms are a plausible alternative. A neural network based controller works if a task resembles a learned case. However, it lacks adaptability. Learning in real-time by reinforcement and progress estimation facilitates robot control and navigation. This thesis presents the reinforcement learning algorithm developed to find alternative solutions when the reactive controller gets stuck while climbing an obstacle. The controllers are validated and compared with simulations.
dc.format.extentxii, 88 leaves : ill. 30 cm.en
dc.identifier.citationVincent, I. (2008). Intelligent mobility controllers for a robotic vehicle climbing obstacles autonomously (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/2218en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/2218
dc.identifier.urihttp://hdl.handle.net/1880/103219
dc.language.isoeng
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.titleIntelligent mobility controllers for a robotic vehicle climbing obstacles autonomously
dc.typemaster thesis
thesis.degree.disciplineMechanical and Manufacturing Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 1832 520708995
ucalgary.thesis.notesUARCen
ucalgary.thesis.uarcreleaseyen
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
thesis_Vincent_2008.pdf
Size:
41.61 MB
Format:
Adobe Portable Document Format
Description:
Thesis
Download
Collections
Legacy Theses