Date of Publication

1-2002

Document Type

Master's Thesis

Degree Name

Master of Science in Manufacturing Engineering

Subject Categories

Manufacturing

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Abstract/Summary

The ability of an autonomous mobile robot to react instantaneously to stimuli from its environment does not only depend on the actuators and sensors used but it is more dependent on the type of control architecture used by the robot. This study involves the development and fabrication of a differential drive wheeled mobile robot, which was used to test the reactive control system. The reactive control system involves several independent tasks running in parallel and a coordinating system that arbitrates which task be the emergent task. The robot was initially programmed with a low level task of wandering , and since tasks are independent from each other, additional tasks such as obstacle avoidance, light seeking and line following were added without altering the other tasks. The robot was also tested with the traditional Sense-Plan-Act (SPA) architecture using the same tasks running in series. The result of implementing a reactive controller was a more responsive robot and more flexible architecture compared to a robot built with the traditional architecture.

Abstract Format

html

Language

English

Format

Electronic

Accession Number

TG03748

Shelf Location

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

Physical Description

57 numb. leaves ; 28 cm.

Keywords

Engineering design; Robots

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