Implementation of safe and reliable coverage control for multiple mobile robots

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

Rekoske, Richard ; Stipanović ; Dušan M.

关键词: Coverage Control;    Implementation;    Optitrack;    Motion Capture System;    OMAPL138;    Avoidance Control;    Proximity Control;    Kalman Filter;    Multiple Agents;    Multi-objective;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/45334/Richard_Rekoske.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

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.