A novel coordination framework for multi-robot systems

Zemzemoğlu, Muhammed (2019) A novel coordination framework for multi-robot systems. [Thesis]

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Having made great progress tackling the basic problems concerning single-robot systems, many researchers shifted their focus towards the study of multi-robot systems (MRS). MRS were shortly found to be a perfect t for tasks considered to be hard, complex or even impossible for a single robot to perform, e.g. spatially separate tasks. One core research problem of MRS is robots' coordinated motion planning and control. Arti cial potential elds (APFs) and virtual spring-damper bonds are among the most commonly used models to attack the trajectory planning problem of MRS coordination. However, although mathematically sound, these approaches fail to guarantee inter-robot collision-free path generation. This is particularly the case when robots' dynamics, nonholonomic constraints and complex geometry are taken into account. In this thesis, a novel bio-inspired collision avoidance framework via virtual shells is proposed and augmented into the high-level trajectory planner. Safe trajectories can hence be generated for the low-level controllers to track. Motion control is handled by the design of hierarchical controllers which utilize virtual inputs. Several distinct coordinated task scenarios for 2D and 3D environments are presented as a proof of concept. Simulations are conducted with groups of three, four, ve and ten nonholonomic mobile robots as well as groups of three and ve quadrotor UAVs. The performance of the overall improved coordination structure is veri ed with very promising results
Item Type: Thesis
Uncontrolled Keywords: Multi-robot systems. -- Coordination. -- Trajectory planning. -- Formation control. -- AMRs. -- UGV. -- UAV. -- Quadrotor. -- Virtual shells. -- Çoklu robot sistemleri. -- Koordinasyon. -- Yörünge planlaması. -- Oluşum kontrolü. -- Otonom mobil robotlar insansız kara araçları. -- İHA. -- Dört-rotor sanal kabuklar.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: IC-Cataloging
Date Deposited: 23 Sep 2019 11:37
Last Modified: 26 Apr 2022 10:31
URI: https://research.sabanciuniv.edu/id/eprint/39240

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