Assessment of kinematic performance of A4-wheels ground vehicle in a structured terrain environment
This thesis deals with the assessment of kinematic performance of a 4-wheels ground vehicle in a structured terrain environment to overcome an obstacle, which this case, a stair of a building. This thesis studied the kinematic and dynamic movement of a 4-wheels ground vehicle and implement it on a r...
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| Format: | Undergraduates Project Papers |
| Language: | English |
| Published: |
2016
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/14025/1/FKP%20-%20MUHAMMAD%20ZULHILMI%20HARIS.PDF http://umpir.ump.edu.my/id/eprint/14025/ |
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| Summary: | This thesis deals with the assessment of kinematic performance of a 4-wheels ground vehicle in a structured terrain environment to overcome an obstacle, which this case, a stair of a building. This thesis studied the kinematic and dynamic movement of a 4-wheels ground vehicle and implement it on a real life rock crawler type 4-wheels ground vehicle. The dimension and definition of a rock crawler type 4-wheels ground vehicle was measured and analysed for the purpose understanding the way of a rock crawler type 4-wheels ground vehicle performed. The objective of this thesis is to change and develop the control system of a 4-wheels ground vehicle from radio remote control transmission to autonomous programmable electronics board. The other objective is to program the control system of a 4-wheels ground vehicle using programmable electronics Arduino board to climb a stair. The program code was developed by using Arduino software to autonomously control the movement of a 4-wheels ground vehicle overcoming a given obstacle. Range of PWM signal was measured to control the velocity and acceleration of DC motors and the turning angle of servo inside a 4-wheels ground vehicle. The movement analysis of a rock crawler type 4-wheels ground vehicle on a surface with and without an obstacle was analysed using the Tracker software to find a maximum, minimum and average value of velocity and acceleration of a 4-wheels ground vehicle. Comparison between two different situations was measured to analyse the performance of a rock crawler type 4-wheels ground vehicle on a surface with and without an obstacle. |
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