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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 57211 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Namvar, Mehrzad
- Abstract:
- Providing mobile robots with autonomous capabilities is advantageous. Coordinated group movement of wheeled robots is used in many applications such as rescue missions, investigation and traffic control. According to the non-holonomic constraints from the system equations of a mobile robot, there is no smooth control law for controlling a mobile robot; As a result, the common methods of designing the control law for the wheeled robot system cannot be used. In addition, in the group movement of robots, it is challenging to avoid collisions between robots. In this research, according to the non-holonomic constraints of a wheeled robot, a control law has been designed. The robot's destination can be a variable function with time; therefore, this control law can be use in real-time path planning. The convergence of the algorithm has been proven using the Lyapunov function and its efficiency has been shown using MATLAB software. In addition, by using the control law that has been developed, we introduce a specific decentralized tracking control law for driving the robots to follow their respective trajectories .The simulation results show the convergence of this method for group control of 12 robots. After that, a method has been developed to prevent the robot from collision with an external object. In this method, each robot individually, according to the prediction results, will decide its movement to avoid collision with the external object. The efficiency of the designed method is shown by simulation
- Keywords:
- Formation Control ; Mobile Robot ; Lyapunov Function ; Nonholonomic Constraints ; Wheeled Robot
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