Hendriks, Rick (2020) Distributed Formation Control of Multi-agent Systems Using Bearing Measurements. Research Project, Industrial Engineering and Management.
|
Text
FinalThesisRickHendriks.pdf Download (2MB) | Preview |
|
![[img]](https://fse.studenttheses.ub.rug.nl/style/images/fileicons/text.png) |
Text
toestemming.pdf Restricted to Registered users only Download (97kB) |
Abstract
There is an increasing interest for formation and cooperative control in robotic systems. Multi- robot systems are able to perform tasks that exceed the capabilities of a single robot. It has been observed that these systems can be very robust and cost effective. Teams of autonomous robots have been used in a wide range of applications, such as search and rescue missions or lifting and transportation of heavy objects. The goal of this research is to develop and analyse the performance and robustness of an angle-constrained distributed formation control algorithm, based on local bearing measurements. Different formation control approaches are reviewed and explained. The formation is simulated in Gazebo and the trajectory and convergence is monitored during various simulations. A Monte Carlo simulation is performed to increase the reliability of the results. Furthermore, the robustness of the control algorithm is tested by disturbing the laser scanner with Gaussian noise. The results from the Monte Carlo simulations show that 89.25% of 800 simulations is successful when an optimal gain and desired inner angle is used. The success rate of the simulations stays approximately the same when noise is added to the laser scanner. This shows that the control law is functional and robust for laser scanner noise. Further research includes the implementation of the control algorithm in a real Nexus robot and optimizing the gain for a desired inner angle.
| Item Type: | Thesis (Research Project) |
|---|---|
| Supervisor name: | Jayawardhana, B. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 04 May 2020 11:30 |
| Last Modified: | 04 May 2020 11:30 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/21829 |
Actions (login required)
 |
View Item |