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Dissertations / Theses on the topic 'Wheel mobile robot'

Author: Grafiati

Published: 4 June 2025

Last updated: 1 August 2025

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1

Plantenberg, Detlef Holger. "Adaptive motion control for a four wheel steered mobile robot." Thesis, Nottingham Trent University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341262.

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For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed wh

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2

Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR). First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR. Second, the design of online non-linear back-stepping tracking controller for DDWMR, based

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Lochman, Vít. "Konstrukce jednokolového mobilního robotu se schopností skákání." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417721.

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The diploma thesis deals with the design of a single-wheel mobile robot, which is able to jump and collect samples weighing 2 Kg. The first part is devoted to the review of single-wheel robots. A brief analysis of single-wheel motion and a brief overview of jumping mechanism follow up. The second part describes problem analysis and five design variants. Using the multicriteria analysis, the variants were evaluated, and the optimal variant was chosen. The third partm is dedicated to the dynamic calculations and the mechanical design of the robot itself. The last part is devoted to economic eval

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Reid, William. "System Design, Motion Modelling and Planning for a Recon figurable Wheeled Mobile Robot." Thesis, The University of Sydney, 2017. http://hdl.handle.net/2123/18111.

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Over the past ve decades the use of mobile robotic rovers to perform in-situ scienti c investigations on the surfaces of the Moon and Mars has been tremendously in uential in shaping our understanding of these extraterrestrial environments. As robotic missions have evolved there has been a greater desire to explore more unstructured terrain. This has exposed mobility limitations with conventional rover designs such as getting stuck in soft soil or simply not being able to access rugged terrain. Increased mobility and terrain traversability are key requirements when considering designs for nex

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Brooks, Douglas Antwonne. "Control of reconfigurability and navigation of a wheel-legged robot based on active vision." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26545.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Howard, Ayanna; Committee Member: Egerstedt, Magnus; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.

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6

Passmore, Catherine M. "3D Printed Mini-Whegs Robot Design and Vibration Analysis." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464.

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Zatloukal, Jiří. "Senzorika a řízení pohonů 4 kolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230890.

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The diploma thesis is dealing with the proposal and realization of the sensor and drive system of the four wheel mobile robot. The control unit is a miniature computer Raspberry Pi. The robot will be employed in the future for the environment mapping and location. For this purpose robot exploits the different types of sensors. The information of these sensors is being processed by the Xmega microcontroller. Another microcontroller together with H-bridge DRV-8432 is used to control the direct current drives.

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Arrizabalaga, Aguirregomezcorta Jon. "MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281702.

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The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. However, this formulation compromises the navigation’s completion in critical scenarios, such as parking, taking curves in narrow corridors or navigating at the presence of a high density of obstacles. Therefore, in this thesis we consider the influence of caster wheels in the m

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9

Seegmiller, Neal A. "Dynamic Model Formulation and Calibration for Wheeled Mobile Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/460.

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Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D dynamic (or force-driven) models are required when traversing challenging terrain, executing aggressive maneuvers, and manipulating heavy payloads. This thesis advances the state of the art in both the formulation and calibration of WMR models We present novel WMR model formulations that are high-f

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10

Georgiou, Evangelos. "Self-localization and environment building methods for small non-holonomic manoeuvrable two-wheel mobile robots." Thesis, King's College London (University of London), 2015. http://kclpure.kcl.ac.uk/portal/en/theses/selflocalization-and-environment-building-methods-for-small-nonholonomic-manoeuvrable-twowheel-mobile-robots(c05f7696-d611-4d58-892e-8975084a06bc).html.

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The thesis presents a kinematic and dynamic model of the mobile robot platform derived by Lagrange D’Alembert methodologies and system control using a closed-loop PD controller. Innovative research in self-localization is presented in this thesis with the use of a double compass configuration that exploits a fusion of relative and absolute localization methods to achieve an analytical solution to position. In order to validate this novel double compass self-localization method, an optimized method was proposed in the form of an overhead computer system and a two-wheel manoeuvrable nonholonomic

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Du, Wenqian. "Motion generation of four-limb robots using whole-body torque control." Thesis, Sorbonne université, 2020. http://www.theses.fr/2020SORUS067.

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Cette thèse présente la génération de mouvements de deux robots quadrupèdes : la génération du mode roulement d’un robot quadrupède sur roues, et la génération du mode trot d’un robot quadrupède avec mécanisme en parallélogramme. Ces deux générateurs de mouvement sont développés en utilisant des modèles de dynamiques généralisées et de dynamiques centroidales. Nous introduisons le concept de contrôleur en impédances priorisées et nous proposons un nouveau modèle de dynamiques qui incorpore une hiérarchie de contrôle multitâche. Nous l’intégrons dans le nouveau modèle dynamique pour améliorer q

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Borzone, Tommaso. "Decentralized control of multi-agent systems : a hybrid formalism." Thesis, Université de Lorraine, 2019. http://www.theses.fr/2019LORR0078/document.

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Au cours des dernières années, les problèmes multi-agents ont été étudiés de manière intensive par la communauté de la théorie du contrôle. L'un des sujets les plus populaires est le problème de consensus où un groupe d'agents parvient à un accord sur la valeur d'un certain paramètre ou d’une variable. Dans ce travail, nous nous concentrons sur le consensus des réseaux d'agents avec une dynamique non linéaire de poursuite de référence. Nous utilisons des interactions sporadiques modélisées par la détection relative, pour traiter le consensus décentralisé des références. La référence est donc u

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Borzone, Tommaso. "Decentralized control of multi-agent systems : a hybrid formalism." Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0078.

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Au cours des dernières années, les problèmes multi-agents ont été étudiés de manière intensive par la communauté de la théorie du contrôle. L'un des sujets les plus populaires est le problème de consensus où un groupe d'agents parvient à un accord sur la valeur d'un certain paramètre ou d’une variable. Dans ce travail, nous nous concentrons sur le consensus des réseaux d'agents avec une dynamique non linéaire de poursuite de référence. Nous utilisons des interactions sporadiques modélisées par la détection relative, pour traiter le consensus décentralisé des références. La référence est donc u

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Svoboda, Ondřej. "Analýza vlastností stereokamery ZED ve venkovním prostředí." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-399416.

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The Master thesis is focused on analyzing stereo camera ZED in the outdoor environment. There is compared ZEDfu visual odometry with commonly used methods like GPS or wheel odometry. Moreover, the thesis includes analyses of SLAM in the changeable outdoor environment, too. The simultaneous mapping and localization in RTAB-Map were processed separately with SIFT and BRISK descriptors. The aim of this master thesis is to analyze the behaviour ZED camera in the outdoor environment for future implementation in mobile robotics.

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HSU, HAO-CHUAN, and 許皓筌. "Weighted Ultrasonic Signal Based Four-Wheel Human-Following Mobile Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/n2yqfz.

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碩士<br>國立暨南國際大學<br>電機工程學系<br>107<br>This thesis proposes a method to make the mobile robot judge the orientation of signal sources, thereby achieving human-following. The mobile robot uses ultrasonic sensors to receive the signal and judge the orientation of the signal sources according to the weight of the sensor. After knowing the direction, the CPU will process the relative position between the signal source and obstacles around the mobile robot, so that the mobile robot can effectively avoid obstacles while following. To this end, this study requires ultrasonic sensors to judge the orientat

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Su-MingHsiao and 蕭書銘. "Localization and Control Applications of a Four-Wheel Steering and Four-Wheel Drive Mobile Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/55456944973112209543.

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Li, Yi. "Dual Mobile Robot: Adaptable Mobility System." Thesis, 2012. http://hdl.handle.net/1807/65481.

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This thesis presents an adaptive and reconfigurable mobile robot: the Dual Mobile Robot (DMR). It is driven by two adaptive track-wheel driving modules that combine wheels and tracks to allow real-time interchangeability according to terrain condition. The DMR can automatically convert from a wheel-based robot into a track-based robot by rotating the track-wheel driving modules by 90 degrees, either only tracks or wheels contact with the ground without any interference. It can be driven as a wheel-based robot when operating over a paved road to achieve higher speed and low energy consumption,

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Shih, Wei-Lun, and 石緯倫. "Fuzzy control of obstacle avoidance and positioning for mobile omni-wheel robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/49313534261036354398.

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碩士<br>健行科技大學<br>電機工程系碩士班<br>103<br>In this thesis, a remote omni-wheels robot position control and obstacle avoidance with bluetooth transmission is designed based on fuzzy control, the omni-wheel robot don''t change attitude when robot move to any position and don''t have turning radius when robot turning. A fuzzy controller is proposed for a three omni-wheels robot assembled with Lego Mindstorms NXT. There are three parts of this thesis. The first part is design a fuzzy controller to decrease the error when robot moving. The results are provided to demonstrate the effecti

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Chen, Tao-Jyun, and 陳韜竣. "Simultaneous Localization and Mapping of a Wheel Mobile Robot via Extended Kalman Filter." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/04227934837386205447.

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碩士<br>中原大學<br>電機工程研究所<br>105<br>The objective of this thesis is to realize simultaneous localization and mapping of mobile robots. This means that the robot can estimate its position in an unknown environment and build the environment map. After using a laser rangefinder to measure the environment of distance, the environment of right-angle landmark is detected by this paper algorithm. The detected landmarks are associated in a database. Then Extended Kalman filter estimates robotic position by fusing encoders, electronic compass and laser rangefinder. Improvement of precision and convergence

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Wu, Shu-Ying, and 吳書穎. "Optimal Dimension Design and Mobile-Phone Bluetooth Control Development of a Legged Wheel Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/83912120959273337053.

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碩士<br>國立高雄第一科技大學<br>光電工程研究所<br>97<br>This paper is devoted in optimal dimension design of a deer-type legged wheel robot. Its main body size is 200×150×100 mm, and the walking machine with two auxiliary wheels is composed of 8-link mechanism and 10 revolute joints. The purpose of this paper is to design such a walking machine with an ideal foot trajectory and good kinematic performance. First, the vector loop approach is used to obtain the foot trajectory and the position displacement of the legs. Then, the equations of displacement are formulated. The optimal dimensions for each leg mechanism

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Tsai, Ping-Han, and 蔡秉翰. "Implementing Path Planning for a Wheel Mobile Robot through a NIOS Based Control System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/60473638844185211948.

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碩士<br>元智大學<br>電機工程學系<br>96<br>Robot localization has been a very challenging task in mobile robotics since it in essential for a broad range of mobile robot tasks. This thesis proposes a new vision-based robot localization and map-building algorithm. Via the proposed algorithm, a robot can plan a shortest path to visit some particular locations pre-specifies by the user. This algorithm has the global searching characteristic that from Genetic Algorithm, also combines the localized searching feature with A* path evaluation standard rule. There can be schemed a reasonable path itself with this

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Cheng, Chih-Chung, and 鄭智中. "Design and Realization of a Tiltable 2-wheel Mobile Robot with Obstacle Avoidance Capability." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/91562673772427156253.

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碩士<br>臺灣大學<br>機械工程學研究所<br>98<br>We report on the design of a tiltable 2-wheel mobile robot. Its wheels are driven independently. Equipped with tiltable mechanism, the robot is capable of changing its center of gravity to achieve high dexterity and stability under high speed. In the mechanism design, we start from the actuator, in other word, motor as a beginning to assure the platform can achieve the speed of 20km/hr as light electric vehicle. We also design the transmission, tilt and rim mechanism. The main platform structure is composed of aluminum press thermoform, with the advantages of ea

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Tsai, Che Wei, and 蔡哲瑋. "The Design and Implementation of a Wheel-based Mobile Robot Pose Control Software Module." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/74941368572461585298.

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碩士<br>崑山科技大學<br>數位生活科技研究所<br>98<br>This thesis purpose is implement a mobile robot control module. This module can let robot move to designate place and orientation from free space, and avoid obstacles on the path. Robot’s pose is by Dead-Reckoning (DR) and Gyro’s orientation perceive value estimate; Pose change is by potential energy method to control the robot platform’s move and obstacle avoidance. This module can be identified by making use of the ITRI U-BOT robot moving the platform. The verification result shows that module can correct finish pose’s change.

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Lin, Yu-chin, and 林玗瑾. "The function of people following and elevator recognition for a wheel mobile robot using image processing technique." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/28950570669103954351.

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碩士<br>國立中央大學<br>電機工程研究所<br>100<br>The thesis proposes an image processing technique on a wheel mobile robot to achieve the functions of people following and elevator taking. Concerning the people following, by using the technology of image processing and control strategy, the robot can recognize the master and keep in an appropriate distance between master and robot and follow the master in real time according to the information of sensors adopted from infrared, sonar, wireless communication module (Zigbee) and the device of light. In addition, by using Zigbee, the robot can communicate with t

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Tharakeshwar, Appala. "Novel Suspension Mechanisms For A Three Wheeled Mobile Robot Traversing Uneven Terrains Without Slip." Thesis, 2012. https://etd.iisc.ac.in/handle/2005/2368.

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A wheeled mobile robot (WMR) will move on uneven terrain without slip if the length of the axle connecting two wheels can change or for a fixed length axle the wheels are allowed to tilt in a lateral direction. In this work, we consider a three-wheeled mobile robot with torus shaped wheels capable of lateral tilting. Due to the requirement of lateral tilting a two degree of freedom (DOF) suspension, one for maintaining contact with terrain and one for lateral tilting, is assumed to connect the wheels to the WMR body. Six concepts of two DOF suspension mechanisms are proposed. A WMR with these

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Tharakeshwar, Appala. "Novel Suspension Mechanisms For A Three Wheeled Mobile Robot Traversing Uneven Terrains Without Slip." Thesis, 2012. http://etd.iisc.ernet.in/handle/2005/2368.

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A wheeled mobile robot (WMR) will move on uneven terrain without slip if the length of the axle connecting two wheels can change or for a fixed length axle the wheels are allowed to tilt in a lateral direction. In this work, we consider a three-wheeled mobile robot with torus shaped wheels capable of lateral tilting. Due to the requirement of lateral tilting a two degree of freedom (DOF) suspension, one for maintaining contact with terrain and one for lateral tilting, is assumed to connect the wheels to the WMR body. Six concepts of two DOF suspension mechanisms are proposed. A WMR with these

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Wong, Pius Duc-min. "Methodology for creating human-centered robots : design and system integration of a compliant mobile base." Thesis, 2012. http://hdl.handle.net/2152/ETD-UT-2012-05-5433.

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Robots have growing potential to enter the daily lives of people at home, at work, and in cities, for a variety of service, care, and entertainment tasks. However, several challenges currently prevent widespread production and use of such human-centered robots. The goal of this thesis was first to help overcome one of these broad challenges: the lack of basic safety in human-robot physical interactions. Whole-body compliant control algorithms had been previously simulated that could allow safer movement of complex robots, such as humanoids, but no such robots had yet been documented to actu

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Patnaik, Lalit. "Investigations on Dynamics and Control of a Rimless Wheel Based 2D Dynamics Walker using Pulsed Torque Actuation." Thesis, 2014. http://etd.iisc.ac.in/handle/2005/3517.

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Wheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be energy efficient. Towards this objective, the dynamics of the walker needs to be modelled and controlled. In addition, the braking and ground impact losses need to be minimized. This thesis presents analysis and experiments on the dynamics and control of a rimless-spoked-wheel based mobile robot (Chatur ∗) that belongs to a category between wheeled and le

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Patnaik, Lalit. "Investigations on Dynamics and Control of a Rimless Wheel Based 2D Dynamics Walker using Pulsed Torque Actuation." Thesis, 2014. http://etd.iisc.ernet.in/2005/3517.

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Wheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be energy efficient. Towards this objective, the dynamics of the walker needs to be modelled and controlled. In addition, the braking and ground impact losses need to be minimized. This thesis presents analysis and experiments on the dynamics and control of a rimless-spoked-wheel based mobile robot (Chatur ∗) that belongs to a category between wheeled and le

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Mestiri, Youssef. "Mobile manipulator robot: omni 3 wheels manipulator robot." Master's thesis, 2022. http://hdl.handle.net/10198/25146.

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Mestrado de dupla diplomação com a Université Libre de Tunis<br>Robots are electromechanical machines having ability to perform tasks or actions on some given electronic programming. While Omni directional mobile robots have been popularly used in several applications since they can respond more quickly and it would be capable of more sophistication. A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. This work proposes to design and create a model of

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Chen, Yen-Jen, and 陳彥任. "Application and Implementation of the Motion Control for Two-Wheel Mobile Robots." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/c3s796.

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碩士<br>國立臺北科技大學<br>自動化科技研究所<br>107<br>This thesis explores the implementation and application of a two-wheel mobile robot (TWMR) with vision and robotic arms. Since the robot is driven by two independent motors, it can be regarded as an unstable nonlinear actuated system. Therefore, a motion control law based on the proportional differential controller is proposed for the stabilization of TWMR. In addition, in order to achieve the recognition and tracking of the object, a wireless IP camera is installed on the TWMR to capture the image and transfer the captured image to computer for further ima

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Lu, Tsung-Hsien, and 呂宗憲. "Adaptive Fuzzy Sliding-Mode Control for Trajectory Tracking of Wheeld Mobile Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/50302653147352746630.

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碩士<br>中國文化大學<br>機械工程學系數位機電碩士班<br>101<br>In this thesis, an adaptive fuzzy sliding-mode controller (AFSMC) is developed for wheeled robot to track planned path. The proposed control scheme contains a fuzzy sliding mode controller (FSMC) and an adaptive tuner. In the FSMC, the robot's x, y position errors are utilized to form the PD sliding surfaces and the sliding surfaces are treated as the input variable of the fuzzy inference system. While the left and right wheel motor speeds are designated as the output variables. The singleton fuzzy membership functions are adopted as the consequent part

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Irani, Rishad. "DYNAMIC TERRAMECHANIC MODEL FOR LIGHTWEIGHT WHEELED MOBILE ROBOTS." 2011. http://hdl.handle.net/10222/14233.

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This doctoral thesis extends analytical terramechanic modelling for small lightweight mobile robots operating on sandy soil. Previous terramechanic models were designed to capture and predict the mean values of the forces and sinkage that a wheel may experience. However, these models do not capture the fluctuations in the forces and sinkage that were observed in experimental data. The model developed through the course of this research enhances existing terramechanic models by proposing and validating a new pressure-sinkage relationship. The resulting two-dimensional model was validated with

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Lazghab, Seifeddine. "Control of a mobile platform didactic purposes." Master's thesis, 2021. http://hdl.handle.net/10198/24003.

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Robots are electromechanical machines having ability to perform tasks or actions on some given electronic programming. Line follower robots are mobile robots having ability to follow a line very accurately having an onboard hardwired control circuit. while Omni directional mobile robots have been popularly employed in several applications.This situation brings the idea of omnidirectional robot at manufacturing. Such a robot can respond more quickly and it would be capable of more sophisticated behaviors such as to transport materials and placed on processing machine and outgoing warehous

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"Modeling, Design and Control of Multiple Low-Cost Robotic Ground Vehicles." Master's thesis, 2015. http://hdl.handle.net/2286/R.I.35970.

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abstract: Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design and control objectives for ground vehicles. One central objective was to show how off-the-shelf (low-cost) remote-control (RC) “toy” vehicles can be converted into intelligent multi-capability robotic-platforms for conducting FAME research. This is shown for two vehicle classes: (1) six differential-drive (DD) RC vehicles called Thunder Tumbler (DDTT) and (2) one rear-wheel drive (RWD) RC car

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Arantes, Carlos Alberto Fernandes. "Desenvolvimento de uma plataforma móvel omnidirecional baseada em rodas Mecanum com gestão otimizada da energia." Master's thesis, 2014. http://hdl.handle.net/1822/41924.

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Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e Computadores<br>O uso de sistemas de direção não-omnidirecionais em plataformas móveis (nomeadamente em robôs móveis) constitui uma severa limitação em termos de liberdade de movimentos. Este facto leva a um aumento da complexidade dos algoritmos responsáveis pela geração dinâmica das trajetórias, pode implicar um gasto supérfluo de energia, maiores tempos de resposta e resulta ainda na dificuldade ou até impossibilidade de executar determinadas tarefas, em locais congestionados onde o espaço disponível é reduzido. Por out

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