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Perception based navigation for unde...

University of Michigan.

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Perception based navigation for underactuated robots.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Perception based navigation for underactuated robots./
作者:	Lopes, Gabriel A. D.
面頁冊數:	117 p.
附註:	Advisers: Daniel E. Koditschek; Jessy W. Grizzle.
Contained By:	Dissertation Abstracts International69-03B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	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.
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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.
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