Extended kalman filter based localization and control of a bicycle robot | |
| Author | Eakkaluk Chanthabudsri |
| Call Number | AIT Thesis no.ISE-12-06 |
| Subject(s) | Robots--Control systems Tracking (Engineering) |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-06 |
| Abstract | In the robot localization research, there are many challenging topics. The points impo1tant of localization techniques refer to the position and orientation. This paper proposes a robot localization and control algorithm which capable to moving from staiting point to desired destination by using GPS, digital compass and motor encoder. In this study, a bicycle robot is modified for localize and control purpose. Robot localization propose a localization method in order to estimate the position in real time, by using a path tracking method which contained algorithms such as fuzzy controller and PID controller. Moreover, the extend Kalman filter algorithm is implemented to system that computes the most likely path taken by a bicycle, based on signal measurements and a state model. Experimental result represents the proposed method can successfully localize and control a bicycle robot through predefined waypoints by different algorithms. |
| Keyword | Localization; Path tracking; Fuzzy controller; PID controller, Extend Kalman filter; Bicycle robot |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-06 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Other Field of Studies (No Department) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Dailey, Matthew; Mongkol Ekpanyapong; |
| Scholarship Donor(s) | Westem Digital and Royal Thai Government Fellowship; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |