FBE- Makine Mühendisliği Lisansüstü Programı - Yüksek Lisans

Bu koleksiyon için kalıcı URI

http://hdl.handle.net/11527/9782

Gözat

Yazar "Aksun, Bilin" ile FBE- Makine Mühendisliği Lisansüstü Programı - Yüksek Lisans'a göz atma
  • Öge
    Mobile robots
    (Institute of Science and Technology, 1996) Aksun, Bilin ; Hızal, N. Aydın ; Mechanical Engineering
    In this thesis, the main object is to give an idea of mobile robot concept because mobile robotics is a very new field of robotics research in our country and also technologically developed countries. In chapter 1, definitions of mobile robot, design considerations, a brief overview of mobile robot projects, and the application areas where mobile robots are used have been explained in details. In chapter 2, the basic locomotion systems of mobile robots have been concerned. According to this consideration, mobile robots can be classified as: Wheeled mobile robots, Tracked mobile robots Legged mobile robots Articulated body structured mobile robots Combinations of basic configurations The drawbacks and advantages of each locomotion system have been studied. In chapter 3, basic navigation and multisensory navigation systems used for mobile robots so far have been studied by giving the real application examples. In chapter 4, global path planning, local path planning and collision avoidance have been concerned including commonly used path planning techniques for mobile robots. In chapter 5, control structures for autonomous mobile robots have been studied. These control structures are divided into mainly two categories: Functional Decomposition Behavioral Decomposition Under this classification, significant control structures belong to these groups have been explained in details. In chapter 6, simulation of a point-to-point (PTP) motion control of a three- wheeled differentially steered mobile robot has been studied.