Meile, Nils (2020) Analysing the Global Convergence Capabilities of a Bearing-Based Formation Control Law using ROS. Integration Project, Industrial Engineering and Management.
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Abstract
Formation control offers the possibility to operate without the necessity of a centralized system making it appealing to a myriad of applicable fields. This paper contributes to the current literature by investigating the global convergence capabilities of a bearing-based formation control law using the simulation software ROS. Four agents tried to achieve a rectangular shape in a series of 81 distinct simulations that delivered rigours data about the control law's performance. The results yielded convergence capabilities from any displacement from the desired formation shape although failure rates were high due to a poor data processing performance. Finally, common errors and the error causes were discussed and solutions for future research were suggested.
| Item Type: | Thesis (Integration Project) |
|---|---|
| Supervisor name: | Jayawardhana, B. and Mohebbi, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Integration Project |
| Language: | English |
| Date Deposited: | 07 Jul 2020 07:23 |
| Last Modified: | 07 Jul 2020 07:23 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/22480 |
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