Formation control of multiple mobile robots using vision feedback | |
| Author | Nadeem, Muhammad Musharraf |
| Call Number | AIT Thesis no.ISE-07-23 |
| Subject(s) | Mobile robots Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-23 |
| Abstract | This thesis presents: (l) a Framework for controlling and coordinating a group of holonomic mobile robots to maintain formations using the only sensing modality of vision feedback from an overhead camera; (2) Image processing algorithm for detecting robots and obstacles with direction and/or location information as desired; and (3) Design and development of a holonomic mobile platform. The framework is devised in general while the control algorithms are derived in particular, to maintain specific formations, and to enable robots controlling their position and orientation with respect to the Leader and/or neighboring robots or obstacles in the environment. A coordination protocol is formulated, as the second but most crucial level of the overall framework hierarchy, as it facilitates automatic switching between the control laws in order to maintain a specified formation. The controllers are developed as basic building blocks of the whole formation framework, enabling decentralized decision making by the robots individually. Follower robot's trajectory is generated in real time at two different levels: first, when the robot is assembling into the desired formation shape with the leader; and second, when the whole formation is moving along leader's presumed trajectory. A virtual formation navigation strategy is proposed and tested for the two levels of trajectory generation task in common and first level in particular. Image processing algorithm is developed and tested for generating accurate position and direction estimates of the robots and objects, while the Formation Control Framework is separately simulated assuming various locations of the Leader and Follower robots and other objects. The resulting trajectories of the Formation points and Follower robots are then plotted and discussed for performance analysis. A design study of Omnidirectional robot is described in detail; the robot is also developed using locally sourced parts |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-23 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpukar, Nitin V.;Dailey, Matthew N.; |
| Scholarship Donor(s) | Higher Education Commission (HEC), Pakistan; Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |