Date of Award
2014
Document Type
Master's Thesis
Degree Name
Master of Science in Mechanical Engineering (MS)
College, School or Department Name
Department of Mechanical Engineering-Engineering Mechanics
Advisor
Nina Mahmoudian
Abstract
Using robotic systems for many missions that require power distribution can decrease the need for human intervention in such missions significantly. For accomplishing this capability a robotic system capable of autonomous navigation, power systems adaptation, and establishing physical connection needs to be developed. This thesis presents developed path planning and navigation algorithms for an autonomous ground power distribution system. In this work, a survey on existing path planning methods along with two developed algorithms by author is presented. One of these algorithms is a simple path planner suitable for implementation on lab-size platforms. A navigation hierarchy is developed for experimental validation of the path planner and proof of concept for autonomous ground power distribution system in lab environment. The second algorithm is a robust path planner developed for real-size implementation based on lessons learned from lab-size experiments. The simulation results illustrates that the algorithm is efficient and reliable in unknown environments. Future plans for developing intelligent power electronics and integrating them with robotic systems is presented. The ultimate goal is to create a power distribution system capable of regulating power flow at a desired voltage and frequency adaptable to load demands.
Recommended Citation
Moridian, Barzin, "AUTONOMOUS POWER DISTRIBUTION SYSTEMS", Master's Thesis, Michigan Technological University, 2014.