東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Perception based navigation for unde...

University of Michigan.

Linked to FindBook

Google Book

Amazon

博客來

Perception based navigation for underactuated robots.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Perception based navigation for underactuated robots./
Author:	Lopes, Gabriel A. D.
Description:	117 p.
Notes:	Advisers: Daniel E. Koditschek; Jessy W. Grizzle.
Contained By:	Dissertation Abstracts International69-03B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3305028
ISBN:	9780549511229

Perception based navigation for underactuated robots.
Lopes, Gabriel A. D.

Perception based navigation for underactuated robots. - 117 p.

Advisers: Daniel E. Koditschek; Jessy W. Grizzle.

Thesis (Ph.D.)--University of Michigan, 2008.

Robot autonomous navigation is a very active field of robotics. In this thesis we propose a hierarchical approach to a class of underactuated robots by composing a collection of local controllers with well understood domains of attraction.

ISBN: 9780549511229Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Perception based navigation for underactuated robots.
LDR:03188nam 2200325 a 45 001 861205
005 20100719
008 100719s2008 ||||||||||||||||| ||eng d
020 $a 9780549511229
035 $a (UMI)AAI3305028
035 $a AAI3305028
040 $a UMI $c UMI
100 1 $a Lopes, Gabriel A. D. $3 1028875
245 1 0 $a Perception based navigation for underactuated robots.
300 $a 117 p.
500 $a Advisers: Daniel E. Koditschek; Jessy W. Grizzle.
500 $a Source: Dissertation Abstracts International, Volume: 69-03, Section: B, page: 1837.
502 $a Thesis (Ph.D.)--University of Michigan, 2008.
520 $a Robot autonomous navigation is a very active field of robotics. In this thesis we propose a hierarchical approach to a class of underactuated robots by composing a collection of local controllers with well understood domains of attraction.
520 $a We start by addressing the problem of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. We propose a general hybrid procedure that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving "down" and "across" the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, we provide conditions under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal. We summarize with simulation results on a sample of visual servoing problems with a few different perceptual models. We document the empirical effectiveness of the proposed algorithm by reporting the results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons.
520 $a Next we explore the possibility of adapting the resulting first order hybrid feedback controller to its dynamical counterpart by introducing tunable damping terms in the control law. Just as gradient controllers for standard quasi-static mechanical systems give rise to generalized "PD-style" controllers for dynamical versions of those standard systems, we show that it is possible to construct similar "lifts" in the presence of non-holonomic constraints notwithstanding the necessary absence of point attractors. Simulation results corroborate the proposed lift.
520 $a Finally we present an implementation of a fully autonomous navigation application for a legged robot. The robot adapts its leg trajectory parameters by recourse to a discrete gradient descent algorithm, while managing its experiments and outcome measurements autonomously via the navigation visual servoing algorithms proposed in this thesis.
590 $a School code: 0127.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0771
710 2 $a University of Michigan. $3 777416
773 0 $t Dissertation Abstracts International $g 69-03B.
790 $a 0127
790 1 0 $a Grizzle, Jessy W., $e advisor
790 1 0 $a Koditschek, Daniel E., $e advisor
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3305028