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dc.contributor.advisorFotouhi, Rezaen_US
dc.creatorWaheed, Imranen_US
dc.date.accessioned2007-01-03T13:29:08Zen_US
dc.date.accessioned2013-01-04T04:23:06Z
dc.date.available2007-01-04T08:00:00Zen_US
dc.date.available2013-01-04T04:23:06Z
dc.date.created2006-12en_US
dc.date.issued2006-12-22en_US
dc.date.submittedDecember 2006en_US
dc.identifier.urihttp://hdl.handle.net/10388/etd-01032007-132908en_US
dc.description.abstractIn order for a mobile robot to complete its task it must be able to plan and follow a trajectory. Depending on the environment, it may also be necessary to follow a given velocity profile. This is known as temporal planning. Temporal planning can be used to minimize time of motion and to avoid moving obstacles. For example, assuming the mobile robot is an intelligent wheelchair, it must follow a prescribed path (sidewalk, hospital corridor) while following a strict speed limit (slowing down for pedestrians, cars). Computing a realistic velocity profile for a mobile robot is a challenging task due to a large number of kinematic and dynamic constraints that are involved. Unlike prior works which performed temporal planning in a 2-dimensional environment, this thesis presents a new temporal planning algorithm in a 3-dimensional environment. This algorithm is implemented on a wheeled mobile robot that is to be used in a healthcare setting. The path planning stage is accomplished by using cubic spline functions. A rudimentary trajectory is created by assigning an arbitrary time to each segment of the path. This trajectory is made feasible by applying a number of constraints and using a linear scaling technique. When a velocity profile is provided, a non-linear time scaling technique is used to fit the robot’s center linear velocity to the specified velocity. A method for avoiding moving obstacles is also implemented. Both simulation and experimental results for the wheeled mobile robot are presented. These results show good agreement with each other. For both simulation and experimentation, six different examples of paths in the Engineering Building of the University of Saskatchewan, were used. Experiments were performed using the PowerBot mobile robot in the robotics lab at the University of Saskatchewan.en_US
dc.language.isoen_USen_US
dc.subjectWheeled Mobile Robotsen_US
dc.subjectTemporal Planningen_US
dc.subjectKinematicsen_US
dc.subjectDynamicsen_US
dc.subjectTrajectory Planningen_US
dc.titleTrajectory/temporal planning of a wheeled mobile roboten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineMechanical Engineeringen_US
thesis.degree.grantorUniversity of Saskatchewanen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Science (M.Sc.)en_US
dc.type.materialtexten_US
dc.type.genreThesisen_US
dc.contributor.committeeMemberSaadat Mehr, Aryanen_US
dc.contributor.committeeMemberChen, X. B. (Daniel)en_US
dc.contributor.committeeMemberBurton, Richard T.en_US


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