Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance
This thesis considers the formation and behavioural control problem of a multirobot
system. A mathematical model of the mobile vehicles are presented, followed
by an introduction to behavioural control. The Null-Space based Behavioural
(NSB) control [Antonelli, Arrichiello, and Chiaverini, 2005] is presented, and is
used to create task functions for obstacle- and collision avoidance. The formation
problem is solved by a passivity based approach presented in [Arcak, 2007]. The
two controllers are combined to create a complete controller capable of maintaining
group formations, while avoiding obstacles and inter-agent collisions. The results
are verified by simulations and experiments on custom built robots.
Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2013. , 108 p.
IdentifiersURN: urn:nbn:no:ntnu:diva-21610Local ID: ntnudaim:8849OAI: oai:DiVA.org:ntnu-21610DiVA: diva2:640177
Fossen, Thor Inge, Professor