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Bachelor thesis:Formation control in environment with dynamic obstacles ( PDF )
Author:Eckstein Filip
Supervisor:doc. Ing. Martin Saska Dr. rer. nat.
Keywords:
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.
Video:VIDEO
Submited:May 2012
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