|Topic:||Formation control of mobile robots|
|Supervisor:||Baran Alikoc Garant: RNDr. Miroslav Kulich Ph.D.|
|Description:||The subject of the work, in general, is convenient both for BSc/MSc projects/thesis. An appropriate work plan will be prepared according to the student’s degree and background.
The aim is to implement a cooperative control technique for the formation control of multiple mobile robots, which exist at the Intelligent and Mobile Robotics (IMR) laboratory in CIIRC-CVUT. The robots (TurtleBot), which are differential drive (unicycle type), are able to communicate with each other via a wireless protocol, and the linear velocity and heading angle of the robots are measured by their own sensors. The displacements of the robots with respect to each other will be measured by the industrial cameras. The first goal is to ensure the movement of the robots on x-y plane forming a pre-determined shape such as triangle, line, circular or V-shape. The appropriate consensus algorithm will be performed via simulations first, and then it will be implemented on the physical system. After that stage, flocking with obstacle avoidance using the measurement with LIDAR sensors will be studied and implemented.
Experience in programming with ROS and Python or C++ and in Matlab Simulink would be advantageous, as well as the experience in robotic applications, e.g. using industrial cameras and LIDAR.
If you are interested, please send an e-mail to Baran.Alikoc@cvut.cz with your transcript and a paragraph of your motivation for the topic.
|Instruction:||1- Get acquainted with the TurtleBot (TB) .
2- Study the kinematic model of the unicycle type robots and the control design based on feedback linearization [2,3].
3- Drive the robot along a predetermined path using TB’s odometry data.
4- Get acquainted with formation control approaches. Focus on displacement-based formation control .
5- Integrate the industrial cameras to the TBs to measure the displacements between the TBs.
6- Implement the cooperative control algorithm for two TBs following a leader TB while keeping line (and triangular) formation [5-7].
7- Apply formation scaling/transition strategies with respect to obstacles and passages to be passed .
 Pomet, J. B., Thuilot, B., Bastin, G., and Campion, G. (1992). A hybrid strategy for the feedback stabilization of nonholonomic mobile robots. Proceedings of the IEEE International Conference on Robotics and Automation, 129–134.
 Luca, A., Oriolo G., and Samson, C. (1998). Feedback control of a non-holonomic car-like robot. Robot Motion Planning and Control (Lecture Notes in Control and Information Sciences), vol. 229, J.-P. Laumond, Ed. Berlin, Germany: Springer-Verlag, 171–253.
 Oha, K. K., Park, M. C., and Ahnb, H. S. (2015). A survey of multi-agent formation control. Automatica, 53, 424–440.
 Zhang, H., and Lewis, F. L. (2011). Optimal design for synchronization of cooperative systems: state feedback, observer and output-feedback. IEEE Transactions on Automatic Control, 56(8), 1948–1953.
 Liu, S., Xie, L. and Lewis, F.L. (2011). Synchronization of multi-agent systems with delayed control input information from neighbors. Automatica, 47 (10), 2152-2164.
 Li, Z., Duan, Z., Chen, G., & Huang, L. (2010). Consensus of multiagent systems and synchronization of complex networks: A unified viewpoint. IEEE Transactions on Circuits and Systems I, 57(1), 213– 224.
|Realization form:||Code development (ROS / Python or C++), Experiments on robots, Evaluation, Documentation|