Feedback control of many differential-drive robots with uniform control inputs

Onyuksel, Cem

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https://hdl.handle.net/2142/34414 Copy

Description

Title

Feedback control of many differential-drive robots with uniform control inputs

Author(s)

Onyuksel, Cem

Issue Date

2012-09-18T21:15:44Z

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

Bretl, Timothy W.

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Robotics
• Control
• Multi-Robot Control
• Feedback Control
• Differential-Drive Robot
• Unicycle Robot
• Ensemble Control
• Ensemble
• Uniform Inputs

Abstract

We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and forward speed which are unique. Exploiting inhomogeneities in robot execution of control inputs, we derive a globally asymptotically sta- bilizing feedback control policy to regulate the position of each robot. This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.

Graduation Semester

2012-08

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http://hdl.handle.net/2142/34414

Copyright and License Information

Copyright 2012 Cem Onyuksel. Figures 1.1 and 1.2 used with permission from IEEE and American Chemical Society.

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