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Slip detection and compensation in a...

Stewart, Aaron T.

Slip detection and compensation in autonomous tracked micro-vehicles.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Slip detection and compensation in autonomous tracked micro-vehicles./
Author:	Stewart, Aaron T.
Description:	1 online resource (136 pages)
Notes:	Source: Masters Abstracts International, Volume: 48-06, page: 3859.
Contained By:	Masters Abstracts International48-06.
Subject:	Mechanical engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9781124098449

Slip detection and compensation in autonomous tracked micro-vehicles.
Stewart, Aaron T.

Slip detection and compensation in autonomous tracked micro-vehicles. - 1 online resource (136 pages)

Source: Masters Abstracts International, Volume: 48-06, page: 3859.

Thesis (M.Eng.)--University of Louisville, 2010.

Includes bibliographical references

When tracked vehicles traverse terrain such as sand, soil, or even concrete, they may encounter a variance in density or viscosity of the medium that the vehicle is traveling along. When this happens, one track begins to move faster or slower relative to the ground than its counterpart, causing a change in its orientation and position. Autonomous tracked vehicles must be able to detect how much change occurred in the orientation and position of the vehicle and it must then determine a new path to reach the target location.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9781124098449Subjects--Topical Terms:

557493
Mechanical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Slip detection and compensation in autonomous tracked micro-vehicles.
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020 $a 9781124098449
035 $a (MiAaPQ)AAI1485170
035 $a AAI1485170
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Stewart, Aaron T. $3 1189483
245 1 0 $a Slip detection and compensation in autonomous tracked micro-vehicles.
264 0 $c 2010
300 $a 1 online resource (136 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Masters Abstracts International, Volume: 48-06, page: 3859.
500 $a Adviser: Christopher Richards.
502 $a Thesis (M.Eng.)--University of Louisville, 2010.
504 $a Includes bibliographical references
520 $a When tracked vehicles traverse terrain such as sand, soil, or even concrete, they may encounter a variance in density or viscosity of the medium that the vehicle is traveling along. When this happens, one track begins to move faster or slower relative to the ground than its counterpart, causing a change in its orientation and position. Autonomous tracked vehicles must be able to detect how much change occurred in the orientation and position of the vehicle and it must then determine a new path to reach the target location.
520 $a This paper focuses on development of the ability for a small tracked vehicle to detect when a slip has occurred, how much the vehicle has slipped and how the autonomous vehicle should correct for the slip that has occurred. Three different algorithms are tested, the Straight Line Slip Method, the Arc Extension Method and the Arc Compensation Method. The Arc Compensation Method returned the best and most predictable results. The Arc Compensation Method averaged 60 mm to the target location from where the vehicle stopped the smallest of the three methods. This method also maintained a smaller standard deviation and range for the distance to the target location than the other two methods.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 557493
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0548
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a University of Louisville. $3 1189484
773 0 $t Masters Abstracts International $g 48-06.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1485170 $z click for full text (PQDT)

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