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首頁> 外文學位 >Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots.
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Decentralized leader follower based formation control strategies for multiple nonholonomic mobile robots.

機譯：基于分散的領(lǐng)導者跟隨者的編隊控制策略，用于多個非完整的移動機器人。

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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.
機譯：本文開發(fā)了一種混合分散的地層控制框架，以協(xié)調(diào)具有非完整約束的多個移動機器人。所提出的方法采用了一種控制理論的自下而上的方法，其中一些基于低級行為的控制器由具有監(jiān)督控制的離散事件系統(tǒng)協(xié)調(diào)。要求機器人在具有預定幾何形狀的非結(jié)構(gòu)化環(huán)境中導航，同時適應(yīng)于避免障礙物和在途中跟隨墻壁。環(huán)境的復雜性由帶有監(jiān)督控制的離散事件系統(tǒng)處理。為了進行正確的導航，多機器人系統(tǒng)被轉(zhuǎn)換為靈活的領(lǐng)導者跟隨者坐標結(jié)構(gòu)，在此我們可以得出上述基于低行為的控制器。這些控制器由于所涉及的機器人的非完整特性而呈非線性，并通過靜態(tài)和動態(tài)反饋線性化的非線性控制技術(shù)進行線性化。；還開發(fā)了用于非完整移動機器人的軌跡跟蹤型編隊控制器，并將其與線性化的靜態(tài)和動態(tài)反饋進行比較同行表現(xiàn)?；谛袨榈目刂破鳎ńy(tǒng)稱為編隊控制器）要求指定的領(lǐng)導者/領(lǐng)導者機器人的狀態(tài)和速度曲線為所有跟隨者所知。因此，我們不是使用顯式通信，而是使用遞歸貝葉斯估計技術(shù)，通過從機器人本地傳感器獲取的觀測值來估計領(lǐng)導者機器人的狀態(tài)和速度分布。我們實現(xiàn)并模擬了不同的遞歸貝葉斯估計技術(shù)，以估計領(lǐng)導者機器人的狀態(tài)，并比較它們各自的估計精度。通過仿真實現(xiàn)了整個概念系統(tǒng)，并顯示了結(jié)果以驗證其操作。

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  • 作者

    Gamage Don, Gayan.;

  • 作者單位

    Memorial University of Newfoundland (Canada).;

  • 授予單位 Memorial University of Newfoundland (Canada).;
  • 學科 Engineering Mechanical.;Engineering Robotics.
  • 學位 M.Eng.
  • 年度 2009
  • 頁碼 149 p.
  • 總頁數(shù) 149
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類 普通生物學;
  • 關(guān)鍵詞

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