• Login
    View Item 
    •   Shocker Open Access Repository Home
    • Graduate Student Research
    • ETD: Electronic Theses and Dissertations
    • Master's Theses
    • View Item
    •   Shocker Open Access Repository Home
    • Graduate Student Research
    • ETD: Electronic Theses and Dissertations
    • Master's Theses
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Online strategies for coverage of uncertain terrains using an autonomous mobile robot

    View/Open
    thesis embargoed till May 2021 (1.660Mb)
    Date
    2020-05
    Author
    Sridharan, Karan
    Advisor
    Ahmadabadi, Zahra N.
    Metadata
    Show full item record
    Abstract
    Coverage path planning (CPP) algorithms customize an autonomous robot’s trajectory for various applications. In surveillance and exploration of unknown environments, random CPP can be very effective in searching and finding the objects of interest. Robots with random-like search algorithms need to be unpredictable in their motion and simultaneously scan an uncertain environment, avoiding intruders and obstacles in their path. Inducing chaos into the robot’s controller system makes its navigation unpredictable, accounts for better scanning coverage, and avoids any hurdles (obstacles and intruders) without the need for a map of the environment. The unpredictability, however, will come at the cost of increased coverage time. Due to the associated challenges, previous studies have ignored the coverage time and focused instead on the coverage rate only. This paper establishes novel methods that address the coverage time challenge of chaotic path planners. Initially, four chaotic state-of-the-art dynamic systems were selected for their fastest coverage time in an unknown environment of size 50 m × 50 m and greater. These systems were then coupled together and manipulated using 3 chaos control techniques and 2 obstacle avoidance techniques to achieve a fast coverage of the environment and simultaneously avoid obstacles. Considering the average coverage time for the manipulated systems, the outcome has been a technique that can cover 90% of an area, 53.4% less than the state-of-the-art systems.
    Description
    Thesis (M.S.)-- Wichita State University, College of Engineering, Dept. of Mechanical Engineering
    URI
    https://soar.wichita.edu/handle/10057/18852
    Collections
    • Master's Theses

    Browse

    All of Shocker Open Access RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsBy TypeThis CollectionBy Issue DateAuthorsTitlesSubjectsBy Type

    My Account

    LoginRegister

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    DSpace software copyright © 2002-2023  DuraSpace
    DSpace Express is a service operated by 
    Atmire NV