Kraanen, Titus T.G.L (2021) The control of a mobile robot based on a scalar-valued signal field. Integration Project, Industrial Engineering and Management.
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Abstract
Flow measurements can enable an autonomous mobile robot to master its environment. In this report a designed control law is presented. The control law enables the autonomous mobile robot to locate and follow the path where the strength of the scalar field is the lowest. The gradient descent algorithm is used to solve the conditions the control law requires, where the gradient information is solely provided by flow sensors. Monte Carlo simulations are executed to validate the control law. The simulations are performed under different circumstances (e.g. varying in gains of constant values).
| Item Type: | Thesis (Integration Project) |
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| Supervisor name: | Jayawardhana, B. and Munoz Arias, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Integration Project |
| Language: | English |
| Date Deposited: | 08 Feb 2021 12:39 |
| Last Modified: | 08 Feb 2021 12:39 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/23935 |
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