Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Slippage estimation of a two wheeled mobile robot using deep neural network
Download
index.pdf
Date
2018
Author
Özçil, İsmail
Metadata
Show full item record
Item Usage Stats
260
views
153
downloads
Cite This
Mobile robot navigaiton is an important task for the operations of the mobile robots. Due to the wheel slippages, performance of the dead reckoning in estimating speed of the robot and the position of the robot is not sufficient. To overcome the errors in navigation estimates, usage of the recurrent deep neural networks is porposed. Neural networks are used to understand the behaviour of the linear and nonlinear systems. Since wheel-ground interaction will be modeled with non-linear models and the estimating parameters of those models are difficult, usage of the neural networks is preferable since they do not require system models and parameters. In this work, a recurrent deep neural network is proposed to estimate the speed and yaw angle of the 2 wheeled differentially driven mobile robot. By recording data from the training experiments of the navigation of the mobile robot, network is trained. After that, performance of the network is evaluated by plotting and tabulating outputs of the network, sensor data calculation and ground truth. Finally, results are compared with the results from the literature.
Subject Keywords
Mobile robots.
,
Autonomous robots.
,
Robots
URI
http://etd.lib.metu.edu.tr/upload/12622614/index.pdf
https://hdl.handle.net/11511/27556
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
Human aware navigation of a mobile robot in crowded dynamic environments
Hacınecipoğlu, Akif; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019)
As mobile robots start operating in dynamic environments crowded with humans, human-aware and human-like navigation is required to make these robots navigate safely, efficiently and in socially compliant manner. People can navigate in an interactive and cooperative fashion so that, they are able to find their path to a destination even if there is no clear path leading to it. This is clearly a dexterity of humans. But the mobile robots which have to navigate in such environments lack this feature. Even perf...
Control and motion planning for mobile robots via a secure wireless communication protocol
Kaya, Muhammed Çağrı; Eroğlu, Alperen; Temizer, Selim (null; 2013-05-21)
Mobile robot control is receiving considerably more attention in current robotics research. Especially unmanned vehicles are used in important missions such as bomb disposal, patrolling borders of a country by unmanned aerial vehicles (UAVs), etc. This usage increases the importance of unmanned vehicles and they become a target of malevolent people. In this study, a controllable robot system is designed with a secure communication protocol. A Pioneer P3-DX robot is used as a ground vehicle. The robot operat...
Vision-based robot localization using artificial and natural landmarks
Arıcan, Zafer; Halıcı, Uğur; Department of Electrical and Electronics Engineering (2004)
In mobile robot applications, it is an important issue for a robot to know where it is. Accurate localization becomes crucial for navigation and map building applications because both route to follow and positions of the objects to be inserted into the map highly depend on the position of the robot in the environment. For localization, the robot uses the measurements that it takes by various devices such as laser rangefinders, sonars, odometry devices and vision. Generally these devices give the distances o...
LOCALIZATION PERFORMANCE ESTIMATION WITH MULTI SENSOR FUSION
Bingöl, Ulaş Süreyya; Ankaralı, Mustafa Mert; Hacınecipoğlu, Akif; Department of Electrical and Electronics Engineering (2022-5-12)
Autonomous navigation gained significant attention as it is necessary for an over- growing use and integration of autonomous systems to numerous fields such as self- driving cars, logistics, and agricultural robots. These applications require robots to navigate from one location to another, which requires them to estimate their position accurately. Localization loss scenarios are instances when localization accuracy dete- riorates to a level that endangers the task. Reaching the false end goals, being stuck...
Reshaping human intentions by autonomous sociable robot moves through intention transients generated by elastic networks considering human emotions
Görür, Orhan Can; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2014)
This thesis focuses on reshaping a previously detected human intention into a desired one, using contextual motions of mobile robots, which are in our applications, autonomous mobile 2-steps and a chair. Our system first estimates the current intention based on human trajectory depicted as location and detects body-mood of the person based on proxemics behaviors. Our previous reshaping applications have shown that the current human intention has to be deviated towards the new desired one in phases according...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
İ. Özçil, “Slippage estimation of a two wheeled mobile robot using deep neural network,” M.S. - Master of Science, Middle East Technical University, 2018.
