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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 44834 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Alasty, Aria
- Abstract:
- Swarm is coordinated group action that usually done with little communication among its members. Using several simple members instead of the complicated ones reduces cost, simplifies system and increases the reliability. On the other hand, the mission can be done faster. This thesis is done in two general sections; theoretical and experimental parts. At first some important missions are simulated in MATLAB/Simulink such as aggregation, dispersion, flocking, obstacle detection, obstacle collision avoidance and orbiting around the obstacle. Orbiting around the obstacle is simulated formation flying and a constellation of satellites (such as GPS systems). The methodology is artificial potential functions. In the experimental part of the project all of theoretical algorithms are applied to empirical robots. Empirical robots have a non-holonomic dynamics. Two types of a controller, Lyapunov and fuzzy, is designed for robot navigation. An applying the theoretical algorithm on experimental robots and achieving acceptable results is verifying them. One of the missions is environment identification that is done by photography from the environment. For photography, one of the robots is equipped wireless camera. An experimental result shows that the artificial potential function simple, reliable and high performance method for swarm applications
- Keywords:
- Flocking ; Nonholonomic System ; Artifical Potential Functions ; Formation Flight ; Environment Identification ; Robotic Swarm
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