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Design, Deployment, Navigation, and Control of Mobile Robots for Perception and Sensor Data Collection
Design, Deployment, Navigation, and Control of Mobile Robots for Perception and Sensor Data Collection
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211150912
- ISBN
- 9798383209448
- DDC
- 621
- 저자명
- Cao, Pengcheng.
- 서명/저자
- Design, Deployment, Navigation, and Control of Mobile Robots for Perception and Sensor Data Collection
- 발행사항
- [Sl] : University of California, San Diego, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 240 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-01, Section: B.
- 주기사항
- Advisor: Bewley, Thomas;Kuester, Falko.
- 학위논문주기
- Thesis (Ph.D.)--University of California, San Diego, 2024.
- 초록/해제
- 요약Aerial robots, including rotary-wing and fixed-wing unmanned aerial vehicles or UAVs, have shown great capabilities in surveying as well as search and rescue from above. However, either rotary-wing or fixed-wing UAVs have nearly insoluble flaws. In order to overcome the under-actuating nature of multi-rotor UAVs, Chapter 2 proposes modeling methods and control schemes for fully-actuated hexacopters. Additionally, rotary-wing robots suffer from limited battery life as well as lack of fail-safe mechanism upon losing motors, while fixed-wing robots lacks the ability to take off and land vertically. Therefore, Chapter 4 proposes a bio-inspired hybrid aerial robot to extend multi-rotor flight time and fail-safe capability and provide fixed-wing glider with vertical take-off and landing or VTOL capability. Moreover, to extend the flight time and optimize the energy consumption of multi-rotor UAVs, Chapter 3 proposes a multi-disciplinary design optimization based flight trajectory optimizer involving linear rotor inflow models to reduce flight time or energy consumption of specific missions.In terms of unmanned ground vehicles or UGVs used for perception and mapping, there has been a research gap to provide a low-cost, highly agile over-actuated chassis design. Chapter 5 proposes a 3D-printable double Ackermann steering chassis design with 2-wheel standing and balancing capability to fill in this gap. Chapter 6, on the other hand, proposes the system design of a UGV capable of performing perception and mapping in a limited lighting, unstructured, and GPS-denied environment based on a nevertheless nonholonomic chassis, where primary concern becomes the reliability in performing real-time mapping and preservation of solely static environment.The last but not least topic discussed in this dissertation is to promote the role of UAV imagery in earthquake response. In Chapter 7 we combine the traditional UAV plan view perspective with north and east elevation view video data to provide motion estimation in all 6 degrees of freedom, as well as proposing Video Transformer for motion tracking.All in all, with attempts to expand and promote the designs, deployment and control schemes of both aerial and ground mobile robots, this dissertation strives to provide case study results and state-of-the-art methods for future robotics studies.
- 일반주제명
- Mechanical engineering
- 일반주제명
- Robotics
- 일반주제명
- Aerospace engineering
- 일반주제명
- Engineering
- 키워드
- Aerospace
- 키워드
- Control schemes
- 키워드
- Navigation
- 키워드
- Aerial robots
- 기타저자
- University of California, San Diego Mechanical and Aerospace Engineering
- 기본자료저록
- Dissertations Abstracts International. 86-01B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008250123s2024 us c eng d■001000017160121
■00520250211150912
■006m o d
■007cr#unu||||||||
■020 ▼a9798383209448
■035 ▼a(MiAaPQ)AAI30690823
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aCao, Pengcheng.
■24510▼aDesign, Deployment, Navigation, and Control of Mobile Robots for Perception and Sensor Data Collection
■260 ▼a[Sl]▼bUniversity of California, San Diego▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a240 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-01, Section: B.
■500 ▼aAdvisor: Bewley, Thomas;Kuester, Falko.
■5021 ▼aThesis (Ph.D.)--University of California, San Diego, 2024.
■520 ▼aAerial robots, including rotary-wing and fixed-wing unmanned aerial vehicles or UAVs, have shown great capabilities in surveying as well as search and rescue from above. However, either rotary-wing or fixed-wing UAVs have nearly insoluble flaws. In order to overcome the under-actuating nature of multi-rotor UAVs, Chapter 2 proposes modeling methods and control schemes for fully-actuated hexacopters. Additionally, rotary-wing robots suffer from limited battery life as well as lack of fail-safe mechanism upon losing motors, while fixed-wing robots lacks the ability to take off and land vertically. Therefore, Chapter 4 proposes a bio-inspired hybrid aerial robot to extend multi-rotor flight time and fail-safe capability and provide fixed-wing glider with vertical take-off and landing or VTOL capability. Moreover, to extend the flight time and optimize the energy consumption of multi-rotor UAVs, Chapter 3 proposes a multi-disciplinary design optimization based flight trajectory optimizer involving linear rotor inflow models to reduce flight time or energy consumption of specific missions.In terms of unmanned ground vehicles or UGVs used for perception and mapping, there has been a research gap to provide a low-cost, highly agile over-actuated chassis design. Chapter 5 proposes a 3D-printable double Ackermann steering chassis design with 2-wheel standing and balancing capability to fill in this gap. Chapter 6, on the other hand, proposes the system design of a UGV capable of performing perception and mapping in a limited lighting, unstructured, and GPS-denied environment based on a nevertheless nonholonomic chassis, where primary concern becomes the reliability in performing real-time mapping and preservation of solely static environment.The last but not least topic discussed in this dissertation is to promote the role of UAV imagery in earthquake response. In Chapter 7 we combine the traditional UAV plan view perspective with north and east elevation view video data to provide motion estimation in all 6 degrees of freedom, as well as proposing Video Transformer for motion tracking.All in all, with attempts to expand and promote the designs, deployment and control schemes of both aerial and ground mobile robots, this dissertation strives to provide case study results and state-of-the-art methods for future robotics studies.
■590 ▼aSchool code: 0033.
■650 4▼aMechanical engineering
■650 4▼aRobotics
■650 4▼aAerospace engineering
■650 4▼aEngineering
■653 ▼aAerospace
■653 ▼aControl schemes
■653 ▼aNavigation
■653 ▼aDesign optimization
■653 ▼aAerial robots
■690 ▼a0548
■690 ▼a0771
■690 ▼a0538
■690 ▼a0537
■71020▼aUniversity of California, San Diego▼bMechanical and Aerospace Engineering.
■7730 ▼tDissertations Abstracts International▼g86-01B.
■790 ▼a0033
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17160121▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
