Khalid Mahmood ul Hasan - все книги по циклам и сериям | Книги по порядку

The aspiration of this research work is to design vision based intelligent mobile robot navigation techniques to capacitate an autonomous robot to navigate in indoor/outdoor environments. The images from mobile robot, accoutered with a camera, are preprocessed and are used for drivable region extraction. A novel weighted matrix algorithm (WMA) is used for drivable region division for, both, constructed and unconstructed scenarios. Hurdle distance, reckoned from ultrasonic sensors information, is used in conjunction with extracted drivable road to generate the motion commands for road following and hurdle avoidance behavior. Navigation controller design has been actualized in MATLAB by exerting fuzzy logic soft computing techniques to engender the sought motion commands. The designed controllers are evaluated in a simulator for assorted hurdle and environment conditions prior to real time implementation on archetype robot.

Design and implementation of fuzzy logic controller for mobile robot navigation in unknown environments is presented. The task of navigation is divided into three behaviors namely hurdle avoidance, wall following and goal seeking. The outputs from these behaviors are combined to generate collision free motion of robot amongst obstacles in reaching the target. The controllers for these behaviors are designed using Fuzzy Logic toolbox of MATLAB® and their implementation is realized with readily available and inexpensive AT89C52 microcontrollers. Finally, the robot with these controllers is tested in indoor environments containing obstacles with changing destination places and is found to reach the set targets successfully which shows the validity of the designed controllers in achieving the required task.

The emphasis on the theoretical study and simulation of the three phase induction motor drives is certainly due to the fact of fatal hazards associated with the high voltage and current signals present in the three phase induction motor drives. Other important feature is the cost of a full-scale drive system to test various switching, control and protection strategies. Therefore, design stage comes after a reasonable confidence and verification of the drive circuit and control strategies through simulations. In this work, a laboratory-scale low-voltage induction motor drive is designed which operates at 24 volts, accompanying with the simulations using Matlab and Simulink.