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Outline

Title
Abstract
Introduction
Problem Scope
Robot Design Elements That Impact Tracking
Analysis
Background
Related Control Background
Related Planning Background
Methodology
Design Process
Design Synthesis and Evaluation
Case Study-Communication from a Mobile Robot
Data Rate
Tracking Design-Synthesis and Evaluation
Design Selection
Detailed Design
Experimental Setup
Data Logged
Pointing Error Observability Limitation
Experimental Conclusions
Summary and Conclusions
References
All Topics
Engineering
Control and Systems Engineering

Payload pointing from mobile robots

Profile image of Deepak BapnaDeepak Bapna

1998

Abstract

Payload tracking maintains alignment between a payload and a target while both payload and target may be moving. This research investigates the generic problem of tracking from a mobile robot. A tracking strategy based on subsystem interactions is developed along with tools to model and evaluate payload tracking, metrics for evaluating tracking configurations, and guidelines for developing configurations suitable for payload tracking from mobile robots. The strategy was implemented to design a communication system to achieve high bandwidth communication from a desert exploring mobile robot using active pointed high gain antennas.

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