Analysis And Design Of A Two-wheeled Robot With Multiple User Interface Inputs And Vision Feedback Control

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Title: Analysis And Design Of A Two-wheeled Robot With Multiple User Interface Inputs And Vision Feedback Control
Author: Olson, Eric Stephen
Abstract: This thesis describes the development of a small , inexpensive , controllable mobile two -wheeled robot . It also describes the development of a software interface which allows several open - and closed -loop control methods to be easily implemented . The developed hardware and software modules provide for an open and modular system for research purposes . This is demonstrated through the Bluetooth wireless control of the robot using LabVIEW based software modules . The open -loop control inputs implemented are sliders in a LabVIEW GUI , joystick , and voice commands . The closed -loop control methods included a PD control algorithm that guides the robot to go directly to a user defined point , and a path planning control algorithm that guides the robot to follow a path and reach the user defined goal in the correct orientation . The closed -loop control methods use an external camera for vision based position feedback . All the control methods introduced were successfully tested experimentally .
URI: http : / /hdl .handle .net /10106 /5158
Date: 2010-11-01

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Analysis And Design Of A Two-wheeled Robot With Multiple User Interface Inputs And Vision Feedback Control. Available electronically from http : / /hdl .handle .net /10106 /5158 .

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