A high speed scanning system for vision based navigation/control of mobile robots.
One of the main problems in the design of mobile robots is the development of creating smart integrated information systems. These systems may include different type of sensors. Usually a CeD vision system is a necessary part for these systems. This thesis considers the design of a fast mechanical scanning system for a CCD vision system and the synthesis of the optimal control for this system. The mathematical model of the transport subsystem for mobile robots subjected to an external disturbance is created. The correctness of this model is proved on the base of simulation and experimental results. Regression coefficients are calculated and an estimate of model accuracy is carried out. The approach of power calculation for the actuators for the fast mechanical scanning system is considered. Implementation of this approach extends the use of a general mathematical model of the transport subsystem of the mobile robot and as such considerably reduces the design time. The main features for estimation of external disturbances are determined. Limitations of implementation of some technical solutions for mobile robot sensors are defined according to an analysis conducted of different factors for external disturbances. Di~erent kinematic schemes of the scanning systems have been analysed in this thesis. Practical recommendations of the kinematic scheme used in scanning systems are given. The essential features of a kinematic scheme for the fast mechanical scanning system have been developed and verified. A method for the solution of the inverse kinematics of a 3 degree of freedom scanning system in terms of velocities and in accelerations is presented. This method is utilised for formulating optimal control for the fast mechanical scanning system. 11 v ASlLY RUBrsov PHD· THESIS The algorithms of fast scanning have been produced for the different types of the sensors. The limitations for the practical realisations for these algorithms are considered in this thesis. The optimal control algorithms for the developed scanning system are produced. This control minimises the sum of instant powers of the scanning system actuators. A practical algorithm has been derived utilising the control scheme structure developed theoretically. The capability of this control algorithm has been proved by experimental study. Advantages of this developed control algorithm for 3 degree scanning system has been proven by experimentation.
- PhD