Mechanical and Aerospace Engineering
MS Thesis -- Real-time Minimum Jerk Optimal Trajectory Synthesis and Tracking for Ground Vehicle Applications
1. Setting up over-the-network communication architecture between wheeled mobile robot and
ground station using ROS.
2. Design and implementation of acceleration constrained trajectory generation with nonlinear
control law on wheeled mobile robot using MATLAB/SIMULINK, ROS with over-the-network
communication architecture.
3. Time-delay characterization between ground-station and the rover and analysis of trajectory
tracking performance of the nonlinear controller under time-delays
4. Maintainer of 'asl_gremlin_pkg', ROS package for on-board online trajectory generation and
tracking using acceleration constrained trajectory generation and nonlinear control law
https://github.com/muralivnv/asl_gremlin_pkg
Thesis document can be found here at https://rc.library.uta.edu/uta-ir/handle/10106/27173
