This dissertation addresses the control of networked autonomous mobile robots and its experimental evaluation. The mobile robots are deployed either as a swarm or as standalone agents in a convex region, or a general non-convex region with obstacles. The topics that we examine are trajectory planning, motion control, obstacle avoidance, area coverage and homing. The fundamental contributions of this dissertation are as follows. Firstly, an automated piecewise optimal trajectory generation method for the mobile robots is developed. Secondly, an obstacle aware motion controller for the mobile robots is developed. Thirdly, a visibility based cell assignment method is proposed and used for the derivation of optimal distributed control schemes for the tasks of area coverage and homing in non-convex regions. Apart from that, each task is evaluated on a network of real robotic vehicles, where the robots are controlled in real time by properly exploiting computational geometry tools. The experiments are conducted using mobile robots with differential drive, with the support of a self-developed external localization system. This camera based localization system is implemented in an augmented reality framework and is included in the network of the experimental setup as the main way of retrieving the position and orientation of the robots in the region of interest. The resulting position and orientation of each robot is combined with its encoder measurements in order to obtain its full state. Additionally, since the effective control of the robots is an absolute necessity, the kinodynamic model of the differential drive robot along with its kinematic constraints are considered throughout the dissertation. The most straightforward method of controlling a real robot with respect to its model is through trajectory planning. After defining the trajectory function and determining the required properties, we propose an automated time-optimal trajectory generation method, considering a given set of points to be traversed. Based ...
Control of networked autonomous robotic vehicles ; Έλεγχος δικτυωμένων αυτόνομων ρομποτικών οχημάτων
2021-01-01
Theses
Electronic Resource
English
Κατανεμημένος έλεγχος , Ρομποτικό δίκτυο , Καλυψιμότητα χώρου , Σχεδιασμός τροχιάς , Έλεγχος κίνησης , Ρομποτικό όχημα διαφορικής κίνησης , Εύρος αίσθησης , Περιορισμοί επιτάχυνσης , Περιορισμοί ταχύτητας , Ελάχιστο μονοπάτι , Έλεγχος θέσης ρομποτικού οχήματος , Distributed control , Robotic networks , Area coverage , Trajectory planning , Motion control , Differential drive mobile robot , Visibility range , Acceleration constraints , Velocity constraints , Shortest path , Mobile robot position control , Επιστήμη Ηλεκτρολόγου Μηχανικού , Ηλεκτρονικού Μηχανικού , Μηχανικού Η/Υ , Επιστήμες Μηχανικού και Τεχνολογία , Αυτοματισμοί και Συστήματα ελέγχου , Electrical Engineering , Electronic Engineering , Information Engineering , Engineering and Technology , Automation and control systems
DDC: | 629 |
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