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Vision Controlled Autonomous Stakebot For Driving Stakes And Its Digital-Twin, Corey Lee Leydig
Vision Controlled Autonomous Stakebot For Driving Stakes And Its Digital-Twin, Corey Lee Leydig
Theses and Dissertations
In this thesis a novel vision-based AI driven autonomous ‘StakeBot’ is proposed to serve the agricultural 4.0 industries of the future. In recent years supply, demand and production of vegetables that are harvested from plants with weak stems like bell pepper, tomato, eggplant has been significantly up by several fold. With growing demand and new green-house establishments across the country production of vegetables will require a tremendous number of labors which will be hard to supply soon. To overcome the issues in addition to the labor shortages, automation through robotics will be the only viable solution. Plants like bell peppers …
Nonlinear Intelligent Model Predictive Control Of Mobile Robots, Benjamin Albia
Nonlinear Intelligent Model Predictive Control Of Mobile Robots, Benjamin Albia
Theses and Dissertations
This thesis presents a framework for an artificial neural network (ANN) model-based nonlinear model predictive control of mobile ground robots. A computer vision analysis module was first developed to extract quantitative position information from onboard camera feed with respect to a prescribed path. Various strategies were developed to construct nonlinear physical plant models for model predictive control (MPC), including the physics-based model (PBM), the ANN trained on PBM-generated data, the ANN trained on test-captured data, and the ANN initially trained on PBM-generated data and then retrained with captured data. All the models predict physical states and positions of the robot …