University of Illinois Urbana-Champaign

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

Onyuksel, Cem

Content Files
Onyuksel_Cem.pdf

Permalink

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

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
Date of Ingest
2012-09-18T21:15:44Z
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
Permalink
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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