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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 54900 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Rezaeizadeh, Amin
- Abstract:
- In today's world, mobile robots have many applications in defense, transportation and industry. A robot may not be able to handle a mission alone or there may be different roles to perform a mission that a robot alone cannot perform, so the need to work with team robots is felt to the Necessary that by development Robot Technology and Advances in Communication, Microelectronics, Computing Technology, and Multi - Factor Expansion, robotic systems are widely used in theoretical research due to their flexibility, robustness, and scalability. In this research, robots are controlled in a coordinated manner as a team. In this research, algorithms were developed so that in a two and three-dimensionl space, robots from any initial position while optimizing energy consumption can create regular and desired formation. In these developed algorithms, predictive model control approaches and distributive control have been used. In other words, participatory control between agents is a decentralized control that has no central core and uses only local information between neighbors. The study also showed that robots will not be dependent on each other and if there is a problem for one or more of them, other robots can continue to work without problems. Robots are also resistant to disturbance, and if an unwanted force is applied to the robots in a random direction, the robots are able to repel such annoying force and then continue their mission without any problems
- Keywords:
- Predictive Control ; Formation Control ; Multirobot Systems ; Decentralized Multi Robots Control ; Distributed Robots System ; Quadcopter ; Optimal Control
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