University of Illinois Urbana-Champaign

Implementation of safe and reliable coverage control for multiple mobile robots

Rekoske, Richard

Content Files
Richard_Rekoske.pdf

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

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
Date of Ingest
2013-08-22T16:36:58Z
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
Permalink
http://hdl.handle.net/2142/45334
Copyright and License Information
Copyright 2013 Richard Rekoske

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