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Survey on Control Systems of Group of Robots for Shape Formation

Mortazavi, Mohammad Javad | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41552 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasti, Arya
  7. Abstract:
  8. Phenomena such as collective movements of birds and fish, collective and harmonious activities of ants, termites, bacteria, etc. have inspired engineers to create and develop the idea of swarm robotics. Robotic groups can be used for applications such as searching the environment, patrolling, cooperation in moving heavy objects and so on. One of the issues considered regarding swarm robotics is the formation of geometric shape by the multi robots system. Two main methods are employed for solving the problem of shape formation: the leader-follower method, and the artificial potential functions method.This thesis presents some control algorithms for shape formation in multi-robot systems on the basis of artificial potential functions method. In this study, the problem of shape formation of robotic group is divided into two parts. In first stage, an algorithm is proposed based on artificial potential fields method and using linear maps for shape formation of agents with first order dynamic. In the second stage, a controller is designed for controlling robots with higher order dynamic aimed to follow the behavior of first order robots. Each robot has two driver wheels, and input-output linearization method and Sliding mode control with fuzzy supervisor is utilized for controlling inner dynamic of each robot. The results of simulations conducted for the algorithm and control method for square and quadrangle are also presented.
  9. Keywords:
  10. Artificial Potential Field ; Input-Output Linearization ; Swarm Robot Formation ; Fuzzy-Sliding Mode Method ; Shape Formation

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