Title

Implementation and characterization of a dual-drive system for a mobile robot

Date of Publication

2006

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science

Subject Categories

Computer Sciences

College

College of Computer Studies

Department/Unit

Computer Science

Thesis Adviser

Clement Y. Ong

Defense Panel Member


Gregory G. Cu
Jesus E. Gonzalez
Joel P. Ilao

Abstract/Summary

The current implementation of the omni-directional drive system for mobile robots offers advantages that cannot be equaled by differential and synchronous drives. Omni-directional drive systems are complex and require specialized actuation for motion which is expensive. Combining the differential and synchronous drives yields the capability of the omni-directional drive, therefore achieving omni-directional motion and rotation. This study discusses the implementation of a dual-drive system based on the mobile robot VIPER. The dual-drive system is a combination of the differential and synchronous drive systems. The Dual-Drive system is characterized based on its accuracy, agility, and speed. Different testing procedures were done in order to determine the behavior of the system.

Seven tests were conducted to check if the system is working properly. These are the Simulation Reliability, Lag Time Test, Prototype Execution Accuracy and Coordination Test, Differential Drive System Test, Synchronous Drive System Test, Dual-Drive System Test, and the Characterization and Performance Test. In the Simulation Reliability Test, the values regarding the motion commands produced from Front-End Module is checked for accuracy. In the Lag Time Test, the program was optimized to minimize the lag time in the system as this may cause performance degradation. In the three Drive Systems tests, the system is tested to check if it will properly execute motion commands using a certain drive system. Results were satisfactory most of the time with regards to the Accuracy, Agility, and Speed requirements. However, in some trials, these requirements were not met due to hardware limitations of the system. In the characterization and Performance Test, results based from the three Drive Systems tests were gathered and analyzed. A chart which shows different wheel configurations is included to better understand the causes for errors.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU13808

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. (some col.) ; 28 cm.

Keywords

Mobile robots; Motor vehicles--Automatic control; Robots--Motion; Robots--Control system

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