Rosendal, Pytrik, van (2020) Distributed Formation Control with Dynamic Obstacle Avoidance of Omni-wheeled Mobile Robots via Model Predictive Control. Research Project, Industrial Engineering and Management.
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Abstract
This master thesis was conducted in the Nexus group in the Discrete Technology Production Automation (DTPA) Lab at the University of Groningen. In this thesis, a distributed control law for a group of robots is presented, that solves the problem of formation control and path planning . In particular, we consider a control law that is a linear combination between distributed formation, and distributed path planning. We show through numerical simulations the effectiveness of the model predictive approach in dealing with dynamic environments as typically encountered in reality. The control system is able to move from start to goal pose in a number of challenging dynamic environments, such as worlds with high obstacle density, and worlds with narrow corridors and doorways. The implementation of the system was done in ROS, experiments were performed in the 3D physics simulator, Gazebo. This thesis concludes with a list of future work possibilities, as well as advice on which parts of the implemented system can be improved. Further research includes scaling of the system and improving robustness by merging different types of sensor data, such that the robots can sense their environment more clearly.
| Item Type: | Thesis (Research Project) |
|---|---|
| Supervisor name: | Jayawardhana, B. and Munoz Arias, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 14 May 2020 09:00 |
| Last Modified: | 14 May 2020 09:00 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/21886 |
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