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Control of Car-Like Multi Robots for Following and Hunting of Moving Target

Kouhi Gilvan, Hamed | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41041 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical engineering
  6. Advisor(s): Sayyaadi, Hassan; Salarieh, Hassan
  7. Abstract:
  8. The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group maneuver, by using dynamic analysis of inertial agents and minimizing error norm between desired acceleration and actual one. Simulations consist of group maneuver of four robots for following and hunting a moving target, distance between robots and target, velocity of robots and target, comparing several variables and its estimation, and performs the needed torques that acting on each robot. In spite of the robots group is inertial and nonholonomic in behavior, the simulations show good results and agreements for using both control algorithm and Kalman filter together so the aim of the thesi is achieved
  9. Keywords:
  10. Kalman Filters ; Multirobot Systems ; Car-Like Robot ; Nonholonomic System

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