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Dissertations / Theses on the topic 'Line Following Robot'
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1
Bacha, Andrew Reed. "Line Detection and Lane Following for an Autonomous Mobile Robot." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/33261.
Full textAbstract:
The Autonomous Challenge component of the Intelligent Ground Vehicle Competition (IGVC) requires robots to autonomously navigate a complex obstacle course. The roadway-type course is bounded by solid and broken white and yellow lines. Along the course, the vehicle encounters obstacles, painted potholes, a ramp and a sand pit. The success of the robot is usually determined by the software controlling it.
Johnny-5 was one of three vehicles entered in the 2004 competition by Virginia Tech. This paper presents the vision processing software created for Johnny-5. Using a single digital camera, the software must find the lines painted in the grass, and determine which direction the robot should move. The outdoor environment can make this task difficult, as the software must cope with changes in both lighting and grass appearance.
The vision software on Johnny-5 starts by applying a brightest pixel threshold to reduce the image to points most likely to be part of a line. A Hough Transform is used to find the most dominant lines in the image and classify the orientation and quality of the lines. Once the lines have been extracted, the software applies a set of behavioral rules to the line information and passes a suggested heading to the obstacle avoidance software. The effectiveness of this behavior-based approach was demonstrated in many successful tests culminating with a first place finish in the Autonomous Challenge event and the $10,000 overall grand prize in the 2004 IGVC.Master of Science
2
Sjögren, Andreas, and Victor Wolff. "W8ERBOT : Autonomous robot waiter." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264473.
Full textAbstract:
The advent of robotics and automation leaves few industries untouched. Today, robots assist in everything between production lines at automotive manufacturing plants to home cleaning. One area that remains relatively untouched by robotics however, is the restaurant industry. The purpose of this bachelor’s thesis was to develop a prototype designed to assist with one of the tasks a restaurant waiter faces - food delivery. In order to accomplish this the robot must be able to drive and navigate in a restaurant environment and deliver food, all the while communicating with both restaurant staff and guests. The project resulted in a differentially steered robot that navigates using infrared, radio-frequency identification and ultrasonic modules. An elevator mechanism was devised to present the food to the guests. The user interface consists of a screen and a keypad. The prototype was tested successfully on an oval track measuring 3 by 1 meters. The tests showed that such a robot could likely be implemented in most restaurant settings.Tillkomsten av robotik och automatisering lämnar få industrier orörda. Idag assisterar robotar i allt från produktionslinjer på bilfabriker till hemstädning. Ett område som fortfarande är relativt orört av robotik är dock restaurangbranschen. Således var syftet med detta kandidatexamenarbete att utveckla en prototyp avsedd för att hjälpa till med en av de uppgifter som en restaurangservitör har - leverans av mat. För att uppnå detta måste roboten kunna köra och navigera i en restaurangmiljö och leverera mat, samtidigt som den kommunicerar med både restaurangpersonal och gäster. Projektet resulterade i en differentialstyrd robot som navigerar med hjälp av infraröd-, radiofrekvensidentifierings och ultraljudsmoduler. En hissmekanism konstruerades för att presentera maten för gästerna. Användargränssnittet bestod av en skärm och en knappsats. Prototypen testades framgångsrikt på en oval bana som mäter 3 gånger 1 meter. Testerna visade att en sådan robot troligtvis skulle kunna implementeras i de flesta restaurangmiljöerna.
3
Antonsson, Tess, and Sofia Jönsson. "Pac-King : Placement of IR Sensors on Line Following Robot and Construction of a Gripper and Lift." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264510.
Full textAbstract:
Line following robots are a practical mechatronics solution in a world that is becoming more and more automated. With added gripping and lifting abilities, a very versatile robot can be created. The goal of this thesis was to create a prototype that could navigate a black line using infrared sensors whilst gripping and lifting a package. A working prototype was built and five different sensor placements were evaluated to assess which was optimal for linefollowing. The results showed that too close placement of the sensors led to a less stable system while more distance between the sensors made a faster and more accurate system.Linjeföljarrobotar är en praktisk mekatroniklösning i en värld som blir allt mer automatiserad. Med grepp- och lyftförmågor kan en väldigt anpassningsbar robot skapas. Målet med detta arbete var att skapa en prototyp som kunde navigera en svart linje med hjälp av infraröda sensorer medan den greppade och lyfte ett paket. En fungerande prototyp byggdes och fem olika sensorplaceringar utvärderades för att bedöma vilken som var optimal för att följa en linje. Resultatet visade att för nära placering av sensorerna skapade instabilitet. Ett större avstånd mellan sensorerna var att föredra då detta gav ett snabbare och stabilare system.
4
Wang, Zimu. "A MODEL OF LINE FOLLOWING ROBOT USING PID CONTROLLER : An Educational Platform Based on LEGO Mindstorms NXT Kit." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-21428.
Full textAbstract:
PID controllers are widely used in industrial control systems since it could significantly improve the performance of the systems. It is a basic and important tool for an engineering student.An educational PID controller model using LEGO Mindstorms NXT kit as a line following robot was presented in this thesis. This robot could be controlled by a PC via Bluetooth. MATLAB was used for analyzing data and controlling the robot. A MATLAB Toolbox named “RWTH—Mindstorms NXT Toolbox” was utilized for remote controlling and gathering the feedback data from the robot in real-time via Bluetooth.The algorithm and tuning methods of PID controllers were studied in this thesis. Moreover, the effectiveness of each parameter would be studied by comparing the result of P, PI and PID control type.
5
Lin, Wenjie. "Path Following for a Car-like Mobile Robot based onFuzzy-logic." Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-25726.
Full textAbstract:
The aim of this Master’s thesis is to investigate a path following approach for car-like robots using fuzzy logic. The approach takes into account the vehicle non-holonomic constraints. The thesis covers also the generation of a continuous path given a set of waypoints. The continuous path is modeled using uniform cubic splines. The method is evaluated using a simulated robot running in the 2D simulator Stage, part of the Player robot middleware. i
6
Sarfraz, Hassan. "Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments." Thèse, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/30486.
Full textAbstract:
The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular
geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed.
The geometric parameters of the system are optimized in various types of pipe-like
structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized
with respect to the width of the pipe-like structures and therefore the results are
generalized to be used in the development phase of the robot.
An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.
7
Ryo, Ariizumi. "Analysis of parametric gaits and control of non-parametric gaits of snake robots." 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/199266.
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8
Sheng‐Hseuing, Chuang, and 莊勝雄. "An Intelligent Line‐Following‐Robot with Automatic Calibration Capability." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/15353683316992948277.
Full textAbstract:
碩士龍華科技大學
電子工程研究所
99
A line following robot with automatic calibration and speed profile planning capacities is presented in this thesis. To boost the tracking performance in following the line, interpolation techniques to estimate the error between the center of the robot and the line with analog output values of optical sensors, and curvature detection algorithms are also proposed. The effectiveness of the interpolation techniques are then verified with a carefully devised test platform. The line following robot developed in this thesis not only won championships in local contests, but also obtained good achievements in international contests.
9
Lin, Ku-hung, and 林谷鴻. "The Implementation of a Line Following Robot with Calibration Capability." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/65005690443345246175.
Full textAbstract:
碩士龍華科技大學
電子工程研究所
98
The implementation of a line following robot with calibration capability is presented in this thesis. All the optical sensor analog output values can be calibrated and normalized to compensate for their characteristic differences. Linear interpolation and quadratic curve interpolation methods are applied to obtain precise line position predictions. The robot can then use the prediction and a digital PID controller to track the line fast. Moreover, an energy-efficient control approach and a verification platform for line prediction methods are also devised in this thesis.
10
Wang, Tai-Yuan, and 王泰元. "Implementation a line following robot based on ARM Cortex-M3 microcontroller." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/09685545852676630735.
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11
Hsieh, Tsung-En, and 謝宗恩. "Development of 6-axis Robot Autonomous Line Tracking and Following System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/4236bv.
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12
Tang, Yuan-Shiun, and 湯杬勳. "Experimental Study of Maze Solving Algorithms in a Line Following Robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/ku6mz3.
Full textAbstract:
碩士國立東華大學
電機工程學系
105
Since the artificial intelligence techniques developed, there have been a number of different maze solving algorithms in many publications. In this thesis, experimental results of the selected five maze solving algorithms performed in a line-following maze-solving micromouse robot are illustrated with comparison. The selected five algorithms contain the rules of the left-hand side, right-hand side, forward-first and left, forward-first and right, and left-first and right. All these algorithms are performed in the maze-solving micromouse robot. For practical experiments, an Arduino-based micromouse robot with the selected five maze-solving algorithms were developed. To give comparative discussion, experimental results from the developed micromouse robot are illustrated at last.
13
Lin, Wei-Jen, and 林威仁. "High Speed Line Following Robot Using Light Sensors and Gyro Sensors." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/ubd73x.
Full textAbstract:
碩士義守大學
電子工程學系
107
Line following is very common in robotics competition. Controlling a robot to move along a smooth line looks like simple enough for a kid to learn the programming. However, it may be quite difficult in some conditions. For example, if the line has sharp corners, the robot usually is easy to missing the line. Even worse, if high-speed line following is required, the momentum, linear and rotational, will be the hardest work to overcome. This work applies part of traditional PID control method to achieve high-speed line following robot with a fine tuned P coefficient and an adaptive D coefficient. However, we found the I-term is useless for irregular line pattern. Therefore, it is not included in this control mechanism. Further, we use a Gyro sensor to control the robot toeing the line quickly because it simply measures the rotation speed of the robot. Since the rotational momentum is proportional to the rotation speed, a proportional anti-momentum is applied to reduce the rotation speed of the robot quickly. Therefore, the method is called PDG control. The robot has been implemented with a low cost Arduino Mega 2560, two DC motors, a light sensor array with 6 lights, and a few Lego parts to assembled. Several experiments has been done with different line patterns. Results show that our robot is reliable and can achieve the speed over 100cm/s easily. Notably, we have verified our robot in several national robot competitions, and won quite a few awards.
14
Lin, Hsuan-Sheng, and 林軒聖. "Design and Implementation of a Line-Following Robot with Suction-Fan." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/84293436709160357391.
Full textAbstract:
碩士龍華科技大學
電子工程系碩士班
104
This research is focused on designing a line-following robot with suction-fan which increases the speed and stability at curve and the acceleration on the straight lines. The contribution of this thesis: First, design the first type of line- following robot with suction-fan in Taiwan. Second, use wheel and wheel axle which is easy to get for any students who want to make a robot by themselves. Let students can learn about wheel robot easily. Third, provide mechanic design experiences about a suction-fan of robot. Fourth, improve the motion control algorithms to make the robot run faster along the track. Fifth, Design three types of line-following robot to compare robot with suction and without suction-fan. The experimental results show the practice of the robot. Besides, the robot of this study wins the champion in the high class contest in Taiwan. Some techniques of this thesis are useful to the others who want to design their own robot.
15
Akhtar, Adeel. "Dynamic path following controllers for planar mobile robots." Thesis, 2011. http://hdl.handle.net/10012/6365.
Full textAbstract:
In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization
is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and
augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to
design path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the
closed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration
profile while moving along a path.
16
LIU, JIA-XIANG, and 柳家祥. "Study on the Methods of Controlling the Fuzzy Proportion of the Line-following Obstacle Avoidance of Wheeled Robots." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/5emdz9.
Full textAbstract:
碩士正修科技大學
資訊管理研究所
106
In the line-following competitions of robots, such as the Asian Competition of Robots Following Black Lines, the robots are expected to follow the designated paths. However, most robots sway when following a straight line at a full speed. Moving forward like this is not so graceful; worse still, robots would derail from the designated lines, making moving inefficient. At present, the full proportion control enables an automatic control system to make different responses to different conditions, a bigger error requires more modification. Of course, the proportion control is not absolutely powerful and cannot control complicated paths, neither can the integral and differential control. It is impossible to make immediate reaction to a right-angled turn. Therefore, this study proposes the methods of controlling the fuzzy proportion of the ling-following obstacle avoidance of wheeled robots, so that robots will be able to achieve line-following obstacle avoidance and quickly reach the destination when taking a complicated path.
17
Yokogawa, Tomonori. "Intracellular calcium changes in a hybrid mouse dorsel root ganglion (DRG) neuronal cell line MD3 following [gamma]-aminobutyric acid (GABA) receptor activation." Thesis, 2000. http://hdl.handle.net/2429/11036.
Full textAbstract:
Application of y-aminobutyric acid (GABA) to dorsal root ganglion (DRG) neurons in
vivo increases their membrane conductance for Cl⁻. I studied a mouse DRG neuronal cell line
MD3, produced from hybridization between mouse (Balb/C) DRG neurons and N18TG2
neuroblastoma cells, for sensory and pharmacological properties. Immunostaining with markers
for neurofilaments demonstrated the cells had neuronal characteristics. In addition, the hybrid
cells reacted to CAP and ATP, similar to sensory neurons. Then, I investigated the mechanism
and effects of externally applied agonists and antagonists of GABA on MD3 cells in vitro. I
used fura-2 to monitor GABA-evoked depolarizations in terms of intracellular Ca²⁺, [Ca²⁺][sub i].
Application of GABA to hybrid cells caused [Ca²⁺i increases that implied GABA[sub A] receptor
(GABA[sub A]R) activation. Applications of GABA[sub A]R antagonists bicuculline (BIC) and
picrotoxinin (PTX) confirmed the GABA[sub A]R involvement in the intracellular response. BIC, but
not PTX, blocked the GAB A-mediated elevations in [Ca²⁺i. ZAP A, a potent agonist of low
affinity GABAARs, also increased [Ca²⁺i in hybrid cells. The GABA-evoked increases in
[Ca²⁺i were not apparent during the absence of Ca²⁺ in the extracellular environment and
exposure to dihydropyridines (DHP) nimodipine and nifedipine. The results imply that
depolarization-activated Ca²⁺ influx increased [Ca²⁺i during GABA application. I also studied
the effects of GABA[sub B] receptor (GABA[sub B]R) agonist, p-parachlorophenyl-y-aminobutyric acid
(baclofen), on the hybrid cells. Detectable changes in the [Ca2+]j were not apparent during
GABA[sub B]R activation alone. 2-hydroxy sac lo fen blocked the inhibitory effect of baclofen and
antagonized the GABA[sub B]R.
The MD3 hybrid cell line possesses GABA[sub A] and GABA[sub B]R[sub S]. The augmentation in
[Ca²⁺j occurred when GABA activated the GABA[sub A]R, increasing Cl⁻ conductance and
depolarizing the membrane potential, thus resulting Ca²⁺ influx through voltage-dependent Ca²⁺
channels that increase intracellular Ca²⁺. The source of the elevations in [Ca²⁺][sub i] was the
extracellular environment. Nifedipine and nimodipine inhibited the GABA-induced
transmembrane influx of Ca²⁺ through VGCCs. Activation of GABA[sub B]Rs with baclofen
attenuated the depolarization-induced increases in [Ca²⁺][sub i]. In addition, baclofen influenced L -
type channels since DHPs inhibited the K⁺-mediated [Ca²⁺][sub i] elevations. The MD3 cells
exhibited similarities to its sensory parent. Nevertheless, it is a useful model system for the
examination of GABA and other drug effects.
18
Gumtie, Alicia. "Supporting Selective Formalism in CSP++ with Process-Specific Storage." Thesis, 2012. http://hdl.handle.net/10214/3998.
Full textAbstract:
Communicating Sequential Processes (CSP) is a formal language whose primary purpose is to model and verify concurrent systems. The CSP++ toolset was created to embody the concept of selective formalism by making machine-readable CSPm specifications both executable (through the automatic synthesis of C++ source) and extensible (by allowing the integration of C++ user-coded functions). However, these user-coded functions were limited by their inability to share data with each other, which meant that their application was constrained to solving simple problems in isolation. We extend CSP++ by providing user-coded functions in the same CSP process with safe access to a shared storage area, similar in concept and API to Pthreads' thread-local storage, enabling cooperation between them and granting them the ability to undertake more complex tasks without breaking the formalism of the underlying specification. This feature's utility is demonstrated in our
line-following robot case study.