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Distributed translational and rotational control of rigid formations and its applications in industries

Siemonsma, J. (2017) Distributed translational and rotational control of rigid formations and its applications in industries. Master's Thesis / Essay, Industrial Engineering and Management.

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Abstract

The main goal of this research is to validate desired stable behavior of a distributed formation motion control law designed by Garcia de Marina Peinado et al. in [13, 23]. The control law combines the widely used gradient-based control laws for maintaining the desired formation shape with systematically designed motion parameters for achieving group motion control. The controller guarantees that there is no shape distortion in the steady-state desired formation motion even without the knowledge of any additional sensed information such as velocity sensors and estimators. In the thesis[13], the closed-loop system behavior of the mobile robot with the proposed formation motion controller has been analyzed rigorously and the controller has been experimented on a mobile robotic platform of e-puck®. However, during the experiments, the inter-agent distances were measured by a camera mounted on the ceiling and the computations of the control law were executed on a central computer. A real distributed implementation has not completely been validated in [13]. In this thesis, validation of the formation motion controller in a real distributed fashion is done on a different mobile robotic platform of Nexus® robots in the Discrete Technology & Production Automation lab at the University of Groningen. In order to realize a real distributed environment, the robots are equipped with small computers processors) to calculate the control actions and with laser scanners to measure the distance to their neighbors. During the experiments, four Nexus® robots are moved in all (combinations of) planar directions while maintaining a desired shape. The experiments validate that the formation velocity converges to the desired formation velocity and that the errors in inter-agent distances converge to 0m. The experimental validation on the Nexus® has shown that the formation motion controller as proposed in [13] is: (i). versatile; (ii). can be implemented distributively; (iii). guarantees that the whole group converges to a desired shape while at the same time allows the group to be steered translationally and rotationally. This entails that the controller is a good candidate for future formation control applications.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Industrial Engineering and Management
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 08:26
Last Modified: 15 Feb 2018 08:26
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/14816

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