Switching between formations of multi-robot systems

In this work we aim to introduce the multi agent robotic systems (MARS) to make a good understanding of how it works. In continue, most of the control algorithm like behavior based, leader follower, and virtual structure, artificial potential based control and many more methods have been covered. Th...

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Main Author:	Sedehi, Mahdi Tousizadeh
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/36535/1/MahdiTousizadehSedehiMFKE2012.pdf
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id	my-utm-ep.36535
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spelling	my-utm-ep.365352018-05-27T08:12:26Z Switching between formations of multi-robot systems 2012-01 Sedehi, Mahdi Tousizadeh TK Electrical engineering. Electronics Nuclear engineering In this work we aim to introduce the multi agent robotic systems (MARS) to make a good understanding of how it works. In continue, most of the control algorithm like behavior based, leader follower, and virtual structure, artificial potential based control and many more methods have been covered. The control procedure of multi agent robotic is generally divided into two basic parts. First is the path trajectory and the second part is switching between the formations. Summation of these two commands will be injected to the robots actuators. In the third chapter the two main methods, Behavior-Based and Leader-Follower method is surveyed in detail to investigate the parameters that can affect the formation of the group. Basically, in the behavior based control algorithm each robot acts regardless of the group decision, which is not suitable for our goal, so we focus on the other methodleader follower- to catch the result. A method for switching strategy is mentioned at the end of chapter three that is combination of leader follower strategy with matrix based control algorithm to make the better switching controller when the group of robot is facing with the an obstacle. The controller deals with the information coming from the sensorial reading. In the case that the group is facing with an external object, the controller checks the feasibility of the formation patterns to choose one of them as the new formation. Mean Task Allocation is used in utilization function to represents the new formations of robots location in matrix form. In continue, there is a cost function to optimize the selection of new formation. The proposed algorithm has been verified using MATLAB Simulation and the results are satisfactory. 2012-01 Thesis http://eprints.utm.my/id/eprint/36535/ http://eprints.utm.my/id/eprint/36535/1/MahdiTousizadehSedehiMFKE2012.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Sedehi, Mahdi Tousizadeh Switching between formations of multi-robot systems
description	In this work we aim to introduce the multi agent robotic systems (MARS) to make a good understanding of how it works. In continue, most of the control algorithm like behavior based, leader follower, and virtual structure, artificial potential based control and many more methods have been covered. The control procedure of multi agent robotic is generally divided into two basic parts. First is the path trajectory and the second part is switching between the formations. Summation of these two commands will be injected to the robots actuators. In the third chapter the two main methods, Behavior-Based and Leader-Follower method is surveyed in detail to investigate the parameters that can affect the formation of the group. Basically, in the behavior based control algorithm each robot acts regardless of the group decision, which is not suitable for our goal, so we focus on the other methodleader follower- to catch the result. A method for switching strategy is mentioned at the end of chapter three that is combination of leader follower strategy with matrix based control algorithm to make the better switching controller when the group of robot is facing with the an obstacle. The controller deals with the information coming from the sensorial reading. In the case that the group is facing with an external object, the controller checks the feasibility of the formation patterns to choose one of them as the new formation. Mean Task Allocation is used in utilization function to represents the new formations of robots location in matrix form. In continue, there is a cost function to optimize the selection of new formation. The proposed algorithm has been verified using MATLAB Simulation and the results are satisfactory.
format	Thesis
qualification_level	Master's degree
author	Sedehi, Mahdi Tousizadeh
author_facet	Sedehi, Mahdi Tousizadeh
author_sort	Sedehi, Mahdi Tousizadeh
title	Switching between formations of multi-robot systems
title_short	Switching between formations of multi-robot systems
title_full	Switching between formations of multi-robot systems
title_fullStr	Switching between formations of multi-robot systems
title_full_unstemmed	Switching between formations of multi-robot systems
title_sort	switching between formations of multi-robot systems
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2012
url	http://eprints.utm.my/id/eprint/36535/1/MahdiTousizadehSedehiMFKE2012.pdf
_version_	1747816427940741120

Switching between formations of multi-robot systems

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