Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots
Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 126-132) This thesis develops a hybrid decentralized formation control framework to coordinate multiple mobile robots with nonholonomic constraints. The proposed ap...
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ftmemorialunivdc:oai:collections.mun.ca:theses4/45276 2023-05-15T17:23:33+02:00 Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots Gamage Don, Gayan, 1982- Memorial University of Newfoundland. Faculty of Engineering and Applied Science 2009 xiv, 132 leaves : ill. (some col.) Image/jpeg; Application/pdf http://collections.mun.ca/cdm/ref/collection/theses4/id/45276 Eng eng Electronic Theses and Dissertations (15.53 MB) -- http://collections.mun.ca/PDFs/theses/Don_GayanGamage.pdf a3242456 http://collections.mun.ca/cdm/ref/collection/theses4/id/45276 The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries Mobile robots--Programming Nonholonomic dynamical systems Robots--Control systems Text Electronic thesis or dissertation 2009 ftmemorialunivdc 2015-08-06T19:21:57Z Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 126-132) This thesis develops a hybrid decentralized formation control framework to coordinate multiple mobile robots with nonholonomic constraints. The proposed approach deploys a control theoretic bottom-up approach where, some low level behavior based controllers are coordinated by a discrete event system with supervisory control. The robots are required to navigate in an unstructured environment with a predetermined geometric formation while being adaptable to avoiding obstacles and following walls on the way. The complexity of the environment is handled by a discrete event system with supervisory control. For proper navigation, the multi robot systems are transformed in to flexible leader-follower coordinate structures, where we derive the aforementioned low level behavior based controllers. These controllers being nonlinear due to the nonholonomic nature of the robots involved, are subjected to linearization through nonlinear control techniques of static and dynamic feedback linearization. -- Trajectory tracking type formation controllers for nonholonomic mobile robots are also developed and compared against static and dynamic feedback linearized counterparts for performance. The behavior based controllers, collectively known as formation controllers, require the designated leader/leaders robot's state and velocity profiles be known to all of its followers. Hence instead of explicit communication, we use recursive Baysian estimation techniques to estimate the leader robot's state and velocity profiles through the observations taken from sensors local to the robot. We implement and simulate different recursive Baysian estimation techniques to estimate leader robot's state and compare their respective estimation accuracy. The whole conceptual system is implemented through simulation and the results are shown to verify its operation. Thesis Newfoundland studies University of Newfoundland Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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ftmemorialunivdc |
language |
English |
topic |
Mobile robots--Programming Nonholonomic dynamical systems Robots--Control systems |
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Mobile robots--Programming Nonholonomic dynamical systems Robots--Control systems Gamage Don, Gayan, 1982- Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
topic_facet |
Mobile robots--Programming Nonholonomic dynamical systems Robots--Control systems |
description |
Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 126-132) This thesis develops a hybrid decentralized formation control framework to coordinate multiple mobile robots with nonholonomic constraints. The proposed approach deploys a control theoretic bottom-up approach where, some low level behavior based controllers are coordinated by a discrete event system with supervisory control. The robots are required to navigate in an unstructured environment with a predetermined geometric formation while being adaptable to avoiding obstacles and following walls on the way. The complexity of the environment is handled by a discrete event system with supervisory control. For proper navigation, the multi robot systems are transformed in to flexible leader-follower coordinate structures, where we derive the aforementioned low level behavior based controllers. These controllers being nonlinear due to the nonholonomic nature of the robots involved, are subjected to linearization through nonlinear control techniques of static and dynamic feedback linearization. -- Trajectory tracking type formation controllers for nonholonomic mobile robots are also developed and compared against static and dynamic feedback linearized counterparts for performance. The behavior based controllers, collectively known as formation controllers, require the designated leader/leaders robot's state and velocity profiles be known to all of its followers. Hence instead of explicit communication, we use recursive Baysian estimation techniques to estimate the leader robot's state and velocity profiles through the observations taken from sensors local to the robot. We implement and simulate different recursive Baysian estimation techniques to estimate leader robot's state and compare their respective estimation accuracy. The whole conceptual system is implemented through simulation and the results are shown to verify its operation. |
author2 |
Memorial University of Newfoundland. Faculty of Engineering and Applied Science |
format |
Thesis |
author |
Gamage Don, Gayan, 1982- |
author_facet |
Gamage Don, Gayan, 1982- |
author_sort |
Gamage Don, Gayan, 1982- |
title |
Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
title_short |
Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
title_full |
Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
title_fullStr |
Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
title_full_unstemmed |
Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
title_sort |
decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots |
publishDate |
2009 |
url |
http://collections.mun.ca/cdm/ref/collection/theses4/id/45276 |
genre |
Newfoundland studies University of Newfoundland |
genre_facet |
Newfoundland studies University of Newfoundland |
op_source |
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries |
op_relation |
Electronic Theses and Dissertations (15.53 MB) -- http://collections.mun.ca/PDFs/theses/Don_GayanGamage.pdf a3242456 http://collections.mun.ca/cdm/ref/collection/theses4/id/45276 |
op_rights |
The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. |
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1766113238349512704 |