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- Title
- A VIRTUAL REALITY VISUALIZATION OFAN ANALYTICAL SOLUTION TOMOBILE ROBOT TRAJECTORY GENERATIONIN THE PRESENCE OF MOVING OBSTACLES.
- Creator
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Elias, Ricardo, Qu, Zhihua, University of Central Florida
- Abstract / Description
-
Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation...
Show moreVirtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.
Show less - Date Issued
- 2007
- Identifier
- CFE0001575, ucf:47118
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0001575
- Title
- REACTIVE CONTROL OF AUTONOMOUS DYNAMICAL SYSTEMS.
- Creator
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Chunyu, Jiangmin, Qu, Zhihua, University of Central Florida
- Abstract / Description
-
This thesis mainly consists of five independent papers concerning the reactive control design of autonomous mobile robots in the context of target tracking and cooperative formation keeping with obstacle avoidance in the static/dynamic environment. Technical contents of this thesis are divided into three parts. The first part consists of the first two papers, which consider the target-tracking and obstacle avoidance in the static environment. Especially, in the static environment, a...
Show moreThis thesis mainly consists of five independent papers concerning the reactive control design of autonomous mobile robots in the context of target tracking and cooperative formation keeping with obstacle avoidance in the static/dynamic environment. Technical contents of this thesis are divided into three parts. The first part consists of the first two papers, which consider the target-tracking and obstacle avoidance in the static environment. Especially, in the static environment, a fundamental issue of reactive control design is the local minima problem (LMP) inherent in the potential field methods (PFMs). Through introducing a state-dependent planned goal, the first paper proposes a switching control strategy to tackle this problem. The control law for the planned goal is presented. When trapped into local minima, the robot can escape from local minima by following the planned goal. The proposed control law also takes into account the presence of possible saturation constraints. In addition, a time-varying continuous control law is proposed in the second paper to tackle this problem. Challenges of finding continuous control solutions of LMP are discussed and explicit design strategies are then proposed. The second part of this thesis deals with target-tracking and obstacle avoidance in the dynamic environment. In the third paper, a reactive control design is presented for Omni-directional mobile robots with limited sensor range to track targets while avoiding static and moving obstacles in a dynamically evolving environment. Towards this end, a multi-objective control problem is formulated and control is synthesized by generating a potential field force for each objective and combining them through analysis and design. Different from standard potential field methods, the composite potential field described in this paper is time-varying and planned to account for moving obstacles and vehicle motion. In order to accommodate a larger class of mobile robots, the fourth paper proposes a reactive control design for unicycle-type mobile robots. With the relative motion among the mobile robot, targets, and obstacles being formulated in polar coordinates, kinematic control laws achieving target-tracking and obstacle avoidance are synthesized using Lyapunov based technique, and more importantly, the proposed control laws also take into account possible kinematic control saturation constraints. The third part of this thesis investigates the cooperative formation control with collision avoidance. In the fifth paper, firstly, the target tracking and collision avoidance problem for a single agent is studied. Instead of directly extending the single agent controls to the multi-agents case, the single agent controls are incorporated with an existing cooperative control design. The proposed decentralized control is reactive, considers the formation feedback and changes in the communication networks. The proposed control is based on a potential field method; its inherent oscillation problem is also studied to improve group transient performance.
Show less - Date Issued
- 2010
- Identifier
- CFE0003421, ucf:48384
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0003421
- Title
- STUDENT PERCEPTION OF BARRIERS TO STUDY ABROAD.
- Creator
-
Walker, Jessica, Valdez, Carlos, University of Central Florida
- Abstract / Description
-
Studying abroad during the collegiate experience is an idea sought by the many high school seniors and college freshmen alike. The social, intellectual, and cultural benefits received from participating makes it a seemingly easy decision. Yet, lack of action plagues the nation as there exists a miniscule number of students who follow through with their desire to study abroad. Prior research exemplifies that students rely on the perceptions of their peers and family when approaching an...
Show moreStudying abroad during the collegiate experience is an idea sought by the many high school seniors and college freshmen alike. The social, intellectual, and cultural benefits received from participating makes it a seemingly easy decision. Yet, lack of action plagues the nation as there exists a miniscule number of students who follow through with their desire to study abroad. Prior research exemplifies that students rely on the perceptions of their peers and family when approaching an unfamiliar subject. These perceptions result in concocted barriers that dissuade the student from participating in study abroad before they seek concrete information. There are a limited number of studies completed at universities to identify these specific barriers. Thus, this research examines the student population at the University of Central Florida, the perceived barriers they possess concerning study abroad, and their sources of these perceptions. This is a qualitative and quantitative study that investigates the effects of perceived cost and graduation delay on the willingness of a student to study abroad. The unexpected ramifications of the marketing mix, utilized by the department of Study Abroad, will shed light upon the steps necessary to revise their position in order to transform student intent into action.
Show less - Date Issued
- 2015
- Identifier
- CFH0004876, ucf:45418
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFH0004876
