Multirobot Tethering for Localization and Control

Baillio, Brad A.

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https://hdl.handle.net/2142/11975 Copy

Description

Title

Multirobot Tethering for Localization and Control

Author(s)

Baillio, Brad A.

Issue Date

2009-06-01T16:05:04Z

Director of Research (if dissertation) or Advisor (if thesis)

Dullerud, Geir E.

Department of Study

Electrical and Computer Engineering

Discipline

Electrical and Computer Engineering

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Particle filter
• Tethering
• Robotics
• H infinity Control
• Embedded
• Linux
• Bayes Filter
• Laser Rangefinder (Lidar)

Abstract

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

Graduation Semester

2009-5

Permalink

http://hdl.handle.net/2142/11975

Copyright and License Information

Copyright 2009 Brad A. Baillio

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