Title page for ETD etd-09202000-12380005

Type of Document Master's Thesis
Author Lewis, Jason
URN etd-09202000-12380005
Title Reference Frame Regulation for a Biplanar Bicycle
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kachroo, Pushkin Committee Chair
  • biplanar bicycle
  • Lagrange
  • orientation
Date of Defense 2000-09-08
Availability unrestricted
The biplanar bicycle is an experimental vehicle configuration that has been the

focus of recent autonomous vehicle research at Virginia Tech. Although the vehicle can

be advantageous due to its zero-radius turning and ability to traverse discontinuous

terrain, one key disadvantage of the configuration is that it lacks a stable reference frame

from which observations of the surroundings can be based.

A solution to this problem is presented here in the form of actuators designed to

actively control the oscillations of a reference frame. The orientation of a camera

attached to a mast extended above the vehicle is specifically considered. Autonomous

operation of the vehicle could utilize image processing to navigate, but the camera must

maintain a fixed orientation for the data to be valid.

The work presented examines not only the regulation of the reference frame, but

also the effects of such regulation on the velocity response of the vehicle. Practical

considerations such as sensors, actuators, cost, and complexity are addressed. Although

this work is centered around the biplanar bicycle, similar approaches can be extended to

orientation of an arbitrary body in space.

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