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Enabling Mobile Robot Perception and Shared-Control With Vision-Based Sensor Fusion Systems
Enabling Mobile Robot Perception and Shared-Control With Vision-Based Sensor Fusion Systems
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20260209102859
- ISBN
- 9798291576878
- DDC
- 629.8
- 저자명
- Chen, Yu.
- 서명/저자
- Enabling Mobile Robot Perception and Shared-Control With Vision-Based Sensor Fusion Systems
- 발행사항
- [Sl] : University of Illinois at Urbana-Champaign, 2023
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2023
- 형태사항
- 147 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 87-03, Section: B.
- 주기사항
- Advisor: Norris, William R.;Hsiao-Wecksler, Elizabeth T.
- 학위논문주기
- Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2023.
- 초록/해제
- 요약Mobile robots with various locomotion mechanisms have been developed to adapt to different environmental conditions and mission requirements. The advancement in mobile robot development has raised the requirements for robot perception to ensure the safe and smooth execution of robot missions. In the past decade, the emergence of a novel self-balancing mobile robot system, known as the ballbot, has opened up new avenues of research in the field of mobile robots. While offering enhanced maneuverability, the under-actuated dynamics of the ballbot invalidate most existing ground robot perception solutions. Moreover, when the ballbot is designed as a riding mobility device, it imposes additional demands and constraints on robot perception and human-robot shared motion control. Specifically, the ballbot's omnidirectional capability requires operators to possess significant proficiency and experience in riding and controlling the platform effectively. To address these challenges, there is a critical need for advanced and innovative robot perception techniques and higher-level control systems that can reduce the operator's cognitive load and ensure system safety by preventing unwanted collisions. This dissertation aims to investigate robot perception and safeguarding challenges by leveraging vision-based sensor fusion techniques and commonly available commercial sensors. The research specifically focuses on developing robot perception and shared-control systems that can be deployed on a physical ballbot prototype, adhering to strict Size-Weight-and-Power Constraints (SWaP-C), while also being generalizable to mobile robots with simpler or similar dynamic characteristics as ballbots.
- 일반주제명
- Robotics
- 일반주제명
- Computer engineering
- 키워드
- Robot perception
- 키워드
- Vision sensor
- 키워드
- Sensor fusion
- 기타저자
- University of Illinois at Urbana-Champaign Mechanical Sci & Engineering
- 기본자료저록
- Dissertations Abstracts International. 87-03B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■1001 ▼aChen, Yu.
■24510▼aEnabling Mobile Robot Perception and Shared-Control With Vision-Based Sensor Fusion Systems
■260 ▼a[Sl]▼bUniversity of Illinois at Urbana-Champaign▼c2023
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2023
■300 ▼a147 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 87-03, Section: B.
■500 ▼aAdvisor: Norris, William R.;Hsiao-Wecksler, Elizabeth T.
■5021 ▼aThesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2023.
■520 ▼aMobile robots with various locomotion mechanisms have been developed to adapt to different environmental conditions and mission requirements. The advancement in mobile robot development has raised the requirements for robot perception to ensure the safe and smooth execution of robot missions. In the past decade, the emergence of a novel self-balancing mobile robot system, known as the ballbot, has opened up new avenues of research in the field of mobile robots. While offering enhanced maneuverability, the under-actuated dynamics of the ballbot invalidate most existing ground robot perception solutions. Moreover, when the ballbot is designed as a riding mobility device, it imposes additional demands and constraints on robot perception and human-robot shared motion control. Specifically, the ballbot's omnidirectional capability requires operators to possess significant proficiency and experience in riding and controlling the platform effectively. To address these challenges, there is a critical need for advanced and innovative robot perception techniques and higher-level control systems that can reduce the operator's cognitive load and ensure system safety by preventing unwanted collisions. This dissertation aims to investigate robot perception and safeguarding challenges by leveraging vision-based sensor fusion techniques and commonly available commercial sensors. The research specifically focuses on developing robot perception and shared-control systems that can be deployed on a physical ballbot prototype, adhering to strict Size-Weight-and-Power Constraints (SWaP-C), while also being generalizable to mobile robots with simpler or similar dynamic characteristics as ballbots.
■590 ▼aSchool code: 0090.
■650 4▼aRobotics
■650 4▼aComputer engineering
■653 ▼aSelf-balancing robot
■653 ▼aRobot perception
■653 ▼aVision sensor
■653 ▼aSensor fusion
■653 ▼aVision-based navigation
■690 ▼a0771
■690 ▼a0464
■690 ▼a0800
■71020▼aUniversity of Illinois at Urbana-Champaign▼bMechanical Sci & Engineering.
■7730 ▼tDissertations Abstracts International▼g87-03B.
■790 ▼a0090
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17365939▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
