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Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2013 (English)MasteroppgaveStudent thesis
Abstract [en]

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.
URN: urn:nbn:no:ntnu:diva-21610Local ID: ntnudaim:8849OAI: diva2:640177
Available from: 2013-08-12 Created: 2013-08-12 Last updated: 2013-08-12Bibliographically approved

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