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Control of Car-Like Multi Robots for Doing Group Maneuver and Change Formation

Pourmohammadi, Mohammad | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43288 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. In recent years formation control of autonomous vehicles has been a well-studied topic, and the attention has shifted from the control of a single mobile robot to the control of multiple mobile robots because of the advantages a team of robots offer, such as increased efficiency, robustness against fault and damaging, and more systematic approaches to tasks like search and rescue operations, automated highways, survey and patrols, military missions, moving large objects and moving a large number of objects. Formation control means the problem of controlling the relative position and orientation of the mobile robots in a group according to some desired pattern for executing a given task. In this thesis, decentralize formation control of multiple car-like mobile robots using local information has been studied. Formation changes in the presence of obstacles in a dynamic environment are addressed also.The autonomous mobile robots considered in this paper are front steer, front drive car-like mobile robots. For the sake of simplification, we ignore weight and moment of inertia of wheels, and we considered every robot to move on a flat surface with no-slip condition on the wheels. Except for the first leader, every robot uses local sensory information for localization and position control with respect to a specified leader in the formation. However the first leader uses global information for localization and control.To control each robot, input/output feedback linearization method is used. Hierarchical leader follower based algorithm is used to control the group formation. Local artificial potential fields for collision avoidance between robots and obstacles, and between robots in the formation environment are addressed here. The group has the ability to change formation in the presence of obstacles in the environment. Simulation results are presented to show the performance of the proposed control system.

  9. Keywords:
  10. Mobile Robot ; Feedback Linearization ; Car-Like Robot ; Nonholonomic System ; Formation Control ; Leader-Follower Based Formation Control

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