DESIGN AND IMPLEMENTATION OF A TERRAIN-ADAPTIVE ROBOTIC PLATFORM USING MEMS IMU FOR ENHANCED MOTION CONTROL AND TERRAIN CLASSIFICATION

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dc.contributor.advisorTrencsényi , Réka Eszter
dc.contributor.authorMusawar, Saad Bin
dc.contributor.departmentDE--Természettudományi és Technológiai Kar--Fizikai Intézet
dc.date.accessioned2026-01-09T09:07:35Z
dc.date.available2026-01-09T09:07:35Z
dc.date.created2025-11-27
dc.description.abstractThis thesis presents a novel approach to enhancing robotic autonomy through the design and simulation of a terrain-adaptive 4WD platform utilizing a low-cost MEMS Inertial Measurement Unit (IMU). Addressing the critical challenge of reliable navigation across diverse, unstructured environments, our work develops a robust framework for adaptive motion control and real-time terrain classification. Within Webots R2025a, the system first implemented adaptive control, dynamically adjusting wheel velocity based on IMU tilt and calculated slip, achieving a 28% reduction in average wheel slip on bumpy terrain. Subsequently, a real-time classification algorithm, fusing IMU vibration characteristics with slip data, demonstrated a 92% accuracy in distinguishing between simulated grass and asphalt surfaces. These capabilities enable the robot to intelligently modify its locomotion parameters, significantly improving stability and traction. Our core contribution lies in validating that accessible IMU technology, combined with sophisticated filtering and a rule-based decision architecture, provides an efficient and scalable solution for advanced robotic mobility. This research offers a strong foundation for developing more resilient autonomous systems vital for applications in challenging, real-world scenarios.
dc.description.courseElectrical Engineering
dc.description.degreeBSc/BA
dc.format.extent56
dc.identifier.urihttps://hdl.handle.net/2437/401843
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectMEMS IMU
dc.subjectTerrain-Adaptive Robotics
dc.subjectAdaptive Control
dc.subjectTerrain Classification
dc.subjectWebots
dc.subjectC++
dc.subject.dspaceEngineering Sciences::Electrical Engineering
dc.titleDESIGN AND IMPLEMENTATION OF A TERRAIN-ADAPTIVE ROBOTIC PLATFORM USING MEMS IMU FOR ENHANCED MOTION CONTROL AND TERRAIN CLASSIFICATION
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