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Title:Feedback control of many differential-drive robots with uniform control inputs
Author(s):Onyuksel, Cem
Advisor(s):Bretl, Timothy W.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Multi-Robot Control
Feedback Control
Differential-Drive Robot
Unicycle Robot
Ensemble Control
Uniform Inputs
Abstract:We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and forward speed which are unique. Exploiting inhomogeneities in robot execution of control inputs, we derive a globally asymptotically sta- bilizing feedback control policy to regulate the position of each robot. This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.
Issue Date:2012-09-18
Rights Information:Copyright 2012 Cem Onyuksel. Figures 1.1 and 1.2 used with permission from IEEE and American Chemical Society.
Date Available in IDEALS:2012-09-18
Date Deposited:2012-08

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