test Browse by Author Names Browse by Titles of Works Browse by Subjects of Works Browse by Issue Dates of Works
       

Advanced Search
Home   
 
Browse   
Communities
& Collections
  
Issue Date   
Author   
Title   
Subject   
 
Sign on to:   
Receive email
updates
  
My Account
authorized users
  
Edit Profile   
 
Help   
About T-Space   

T-Space at The University of Toronto Libraries >
School of Graduate Studies - Theses >
Master >

Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/27329

Title: Multirobot Lunar Excavation using an Artificial Neural Tissue Controller
Authors: Fu, Terence Pei
Advisor: D'Eleuterio, Gabriele M. T.
Department: Aerospace Science and Engineering
Keywords: Artificial neural tissue controller
Issue Date: 30-May-2011
Abstract: Automated site preparation on the Moon using a group of autonomous rovers is a topic of great interest for the establishment of a lunar base. A potentially very useful system in which multiple, autonomous rovers clear soil to create a landing pad while simultaneously forming berms with the soil cleared will be described. An Artificial Neural Tissue (ANT) architecture was used as the control algorithm to accomplish these tasks. This scalable architecture encourages task decomposition of the main mission tasks and requires minimal human supervision. To solve these tasks, a single fitness function to measure the performance of the controller and a set of allowable basis behaviors was defined. Next, an evolutionary (Darwinian) selection process was used to generate controllers in simulation. The fittest controller was subsequently implemented on LEGO robots for additional validation and testing. The ANT controller was ultimately integrated with a team of three large-scale rovers.
URI: http://hdl.handle.net/1807/27329
Appears in Collections:Master

Files in This Item:

File Description SizeFormat
Fu_Terence_P_201103_MASc_thesis.pdf10.89 MBAdobe PDF
View/Open

Items in T-Space are protected by copyright, with all rights reserved, unless otherwise indicated.

uoft