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Coverage Path Planning And Control For Autonomous Mobile Robots, Mohanakrishnan Balakrishnan
Coverage Path Planning And Control For Autonomous Mobile Robots, Mohanakrishnan Balakrishnan
Electronic Theses and Dissertations
Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from …
Control And Topology Improvements In Half-Bridge Dc-Dc Converters, Songquan Deng
Control And Topology Improvements In Half-Bridge Dc-Dc Converters, Songquan Deng
Electronic Theses and Dissertations
Efficiency and transient response are two key requirements for DC-DC converters. Topology and control are two key topics in this dissertation. A variety of techniques for DC-DC converter performance improvement are presented in this work. Focusing on the efficiency issue, a variety of clamping techniques including both active and passive methods are presented after the ringing issues in DC-DC converters are investigated. By presenting the clamping techniques, a big variety of energy management concepts are introduced. The active bridge-capacitor tank clamping and FET-diode-capacitor tank clamping are close ideas, which transfer the leakage inductor energy to clamping capacitor to prevent oscillation …