Abstract: | Trajectory planning of nonholonomic formations of mobile robots is a
challenging problem in mobile robotics. It enables robotic formations to
autonomously move in static and also dynamic environment. The aim of
this thesis is to study formation control in environment with dynamic ob-
stacles and integrate dynamic obstacle avoidance algorithm into rules of
MPC (Model-predictive control) using framework that is being developed
at Department of Cybernetics, CTU in Prague. The final verification of
the complete system has been simulated by a movement of formation in
a real experiment with the SyRoTek system.
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