Upravljanje mobilnim robotima u formaciji

master's thesis

• Title (english): Control of mobile robots in formation
• Author: Ivan Pažanin
• Mentor: Andrej Jokić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu proučavamo problem gibanja skupine mobilnih robota u formaciji. U prvom dijelu rada predstavili smo kinematiku i dinamiku gibanja mobilnog robota s diferencijalnim pogonom. Nakon toga opisali smo upravljačke sustave koje ćemo koristiti u ovom radu, model s jednim te model s dva integratora, koji predstavljaju kinematiku odnosno dinamiku gibanja mobilnih robota. Na nizu simulacija prikazali smo osnovne načine gibanja mobilnih robota te napravili usporedbu takvog gibanja za model s jednim i dva integratora.

Posebnu pozornost u ovom radu posvetili smo različitim načinima gibanja mobilnih robota u formaciji. Predstavili smo tri moguća rješenja te ih pomoću prikladno osmišljenih simulacija ispitali. Prva dva predstavljena rješenja su adaptacija upravljačkih zakona prikazanih u literaturi. Prvo ponuđeno rješenje predstavlja gibanje formacije kod kojeg su zadane željene krajnje pozicije mobilnih robota. Upravljački zakon prilagodili smo za kinematiku i dinamiku gibanja te ispitali na nizu simulacija s različitim brojem robota i grafovima komunikacije. Drugo ponuđeno rješenje odnosi se na gibanje formacije mobilnih robota po unaprijed zadanim putanjama. Predstavljeni upravljački zakon smo unaprijedili za kinematiku, dok smo ga za dinamiku gibanja samostalno razvili. Taj upravljački zakon smo ispitali na nizu simulacija s različitim brojem robota i grafovima komunikacije. Treće ponuđeno rješenje smo samostalno razvili te ispitali na seriji simulacija. U našem upravljačkom zakonu upravljamo udaljenošću i kutom između dva robota. Za razliku od rješenja predstavljenih u literaturi naš način gibanja u formaciji koristi jednostavniji upravljački zakon, omogućuje direktno upravljanje s vodećim robotom, te kao najveću prednost nudi mogućnost jednostavnog mijenjanja orijentacije cijele formacije.

Kao dodatak radu razvili smo i aplikaciju u programu Matlab koja omogućuje jednostavnu izradu simulacija prikazanih u ovom radu. Promjenom zadanih parametara moguće je ispitati kako njihove različite vrijednosti utječu na rezultate simulacije.

Abstract (english)

In this thesis, we study the problem of coordinated motion of group of mobile robots in formation. In the first part of this thesis we presented kinematics and dynamics of differential drive mobile robots motion. We described single and double-integrator model which represent kinematics and dynamics of mobile robot motion, respectively. Basic mobile robots motions and comparison between single and double-integrator models are presented.

The main part of this thesis deals with different ways of achieving motion of mobile robots in formation. We presented three possible solutions to this problem and each solution is tested in a number of suitable simulations. First two solutions are adaptations of control laws presented in literature. First solution describes formation maneuvers where we define target positions of mobile robots. We adapted the control law from the literature and tested it for varions number of robots and various types of communication graphs. Second solution describes formation maneuvers where we define referent time-varying trajectories for all mobile robots. Starting from the known solutions from the literature we have presented a novel control law for kinematics of motion as well as a new control law for dynamics of mobile robots motion. The proposed solutions have been tested for varions number of robots and various types of communication graphs. The third solution represents a novel contribution and is capable to control the relative distance and relative angle between the two neighbouring robots. The presented control law is simpler than the similar laws found in the literature. Furthermore, it allows us to directly control the leading robot, while at the same time it offers a possibility to control orientation of the complete formation.

As an addition to this thesis we developed an application in computer program Matlab that enables simple creation of simulations presented in this thesis. We can change different parameters and observe the influence of their values on the results of simulations.

• Keywords: mobilni roboti; upravljanje formacijom; distribuirano upravljanje
• Keywords (english): mobile robots; formation control; distributed control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:022601
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 19:50:27