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 Keywords
- biplanar bicycle
Date of Defense 2000-09-08 Availability unrestricted AbstractThe 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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