Implementation of safe and reliable coverage control for multiple mobile robots

Rekoske, Richard

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https://hdl.handle.net/2142/45334 Copy

Description

Title

Implementation of safe and reliable coverage control for multiple mobile robots

Author(s)

Rekoske, Richard

Issue Date

2013-08-22T16:36:58Z

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

Stipanović, Dušan M.

Department of Study

Industrial&Enterprise Sys Eng

Discipline

Systems & Entrepreneurial Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Coverage Control
• Implementation
• Optitrack
• Motion Capture System
• OMAPL138
• Avoidance Control
• Proximity Control
• Kalman Filter
• Multiple Agents
• Multi-objective

Abstract

This thesis presents some results relating to an implementation of a safe and reliable coverage control algorithm. The application was focused on implementation on differential drive robots developed at the University of Illinois at Urbana-Champaign. Control laws for coverage, avoidance, and proximity were applied to a multi-agent system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.

Graduation Semester

2013-08

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http://hdl.handle.net/2142/45334

Copyright and License Information

Copyright 2013 Richard Rekoske

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