Title:
Control of reconfigurability and navigation of a wheel-legged robot based on active vision

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dc.contributor.advisor Howard, Ayanna M.
dc.contributor.author Brooks, Douglas Antwonne en_US
dc.contributor.committeeMember Egerstedt, Magnus
dc.contributor.committeeMember Vela, Patricio
dc.contributor.department Electrical and Computer Engineering en_US
dc.date.accessioned 2009-01-22T15:44:40Z
dc.date.available 2009-01-22T15:44:40Z
dc.date.issued 2008-07-31 en_US
dc.description.abstract The ability of robotic units to navigate various terrains is critical to the advancement of robotic operation in real world environments. Next generation robots will need to adapt to their environment in order to accomplish tasks that are either too hazardous, too time consuming, or physically impossible for human-beings. Such tasks may include accurate and rapid explorations of various planets or potentially dangerous areas on planet Earth. This research investigates a navigation control methodology for a wheel-legged robot based on active vision. The method presented is designed to control the reconfigurability of the robot (i.e. control the usage of the wheels and legs), depending upon the obstacle/terrain, based on perception. Surface estimation for robot reconfigurability is implemented using a region growing method and a characterization and traversability assessment generated from camera data. As a result, a mathematical approach that directs necessary navigation behavior is implemented to control robot mobility. The hybrid wheeled-legged rover possesses a four-legged or six-legged walking system as well as a four-wheeled mobility system. en_US
dc.description.degree M.S. en_US
dc.identifier.uri http://hdl.handle.net/1853/26545
dc.publisher Georgia Institute of Technology en_US
dc.subject Reconfigurability en_US
dc.subject Terrain characterization en_US
dc.subject Region growing en_US
dc.subject Active vision en_US
dc.subject.lcsh Mobile robots
dc.subject.lcsh Robots--Control systems
dc.subject.lcsh Robots--Programming
dc.subject.lcsh Robots--Dynamics
dc.title Control of reconfigurability and navigation of a wheel-legged robot based on active vision en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Howard, Ayanna M.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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