Announcing the Final Examination of Mr. Ricardo Elias for the degree of Master of Science

A Virtual Reality Visualization of an Analytical Solution to Mobile Robot Trajectory Generation in the Presence of Moving Obstacles

Mr. Ricardo Elias
Thursday, March 29, 2007
9:30AM - Harris Center 435, Robotics Lab

Abstract


This study investigated the analytical solution to the problem of moving a car-like mobile robot in the presence of moving obstacles. An optimized analytical solution was used to move the autonomous vehicle through an open terrain field with moving obstacles.

The solution was demonstrated using 3-D virtual reality techniques implemented via Matlab and Simulink with the VRML toolbox. The vehicle was simulated using a conventional military truck while the moving obstacles were simulated using military tanks. The effect of obstacle detection sensor range was investigated as part of the simulation effort.

Outline of Studies

  • Major: Robotics and Controls
  • Educational Career:
    • B.S., 1986, Texas A&M University
  • Committee in Charge:
    • Dr. Zhihua Qu
    • Dr. Michael Haralambous
    • Dr. Takis Kasparis