Design and implementation of a framework for semi-autonomous mobile robots
| dc.contributor.author | Sanders, David Marc | |
| dc.contributor.examiningcommittee | Ferens, Ken (Electrical and Computer Engineering) Anderson, John (Computer Science) | en |
| dc.contributor.supervisor | McLeod, Robert (Electrical and Computer Engineering) | en |
| dc.date.accessioned | 2011-01-21T15:26:59Z | |
| dc.date.available | 2011-01-21T15:26:59Z | |
| dc.date.issued | 2011-01-21T15:26:59Z | |
| dc.degree.discipline | Electrical and Computer Engineering | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | The design of a framework to control multiple semi-autonomous mobile robots is presented. The goals are to create a flexible framework that allows easy task reconfiguration for a fleet of mobile robots, and to provide a means of off-loading computationally intensive tasks to a central server. Four major components are specified: controllable devices, application servers, an application directory, and a mobile management system. Remote firmware upgrades via the mobile management system are achieved with the remotely managed operating system framework or RMOS. A prototype was created using field programmable gate arrays and system on a programmable chip technology from Altera. It was built with the application of selective herbicide spraying in mind. Although the prototype was a successful implementation of the designed framework, selective herbicide application was not implemented. A broad-leaf weed detection algorithm using Boltzmann machines was investigated. Its performance was good, but similar to that obtained by a statistical analysis of the input images of a lawn. | en |
| dc.description.note | February 2011 | en |
| dc.format.extent | 17150179 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1993/4396 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Robotics | en |
| dc.subject | Embedded Systems | en |
| dc.subject | Mobile Robots | en |
| dc.subject | Software frameworks | en |
| dc.title | Design and implementation of a framework for semi-autonomous mobile robots | en |
| dc.type | master thesis | en_US |