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Dynamics and Control of a Set of Wheeled Robots on a Non-planar Surfaces to Perform Specific Mission

Sabet, Mohammad Taghi | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43519 (08)
  4. University: Sharif university of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. The aim of this article is ancestral control of a set of 3-wheel robots with non-holonomics dynamics for hunting and covering around moving target. Robots have mass and inertia and the wheels' mass have been considered in the dynamics of robots. The output of controller is wheel's torque and front wheel's steering torque. Moving target dynamics has been considered in a way that it is escaping from invader and the target has holonomics dynamic. To derive the equation of motion, Kane's dynamics procedure has been used. Robots are equipped to sensors for distance assessment, vision angle assessment and also signal receiver antenna. To estimate relative position and variables of other robots' situation and target, Kalman filter and smoother had been used. To do a group maneuver using inertia analysis and optimizing the norm of error between desired and actual acceleration, controller was designed. The operation was implemented for three planes: ramp plane, spherical plane and cylindrical plane. The results include the hunting and coverage of the target by four invader robot and relative distance diagrams between robots and the target, their velocity and coresponding of robots at 3 planes and also a comparison between real and estimated variables and also comparison between estimations by Kalman filter and Kalman smoother. Based on the results it can be seen that due to inertia effects in robots and non- holonomics feature of robots, designed controller and estimator are suitable for implementing to the operation to acheive suitable results
  9. Keywords:
  10. Multiagent System ; Kalman Filters ; Nonholonomic Dynamic ; Hunt and Follow ; Kalman Smoother ; Nonplaner Surface

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