Potential-Field-Like Motion Planning for Multi-Robot Cooperation within Unknown Environment
碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === This thesis aims to model and develop an autonomous cooperative multi-robot system within unknown environment. Modeling and motion planning algorithm of the cooperative robot system are proposed. Visual sensing system and ultrasonic sensing system are both mount...
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| Format: | Others |
| Language: | en_US |
| Published: |
2005
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| Online Access: | http://ndltd.ncl.edu.tw/handle/77707976325080145844 |
| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === This thesis aims to model and develop an autonomous cooperative multi-robot system within unknown environment. Modeling and motion planning algorithm of the cooperative robot system are proposed. Visual sensing system and ultrasonic sensing system are both mounted on the mobile manipulator to extract the spatial information of the environment and to obtain distance information relative to obstacles and other mobile manipulators surrounding it.
We model our cooperative multi-robot system under a hybrid system framework. A hybrid automaton is a dynamic system which describes the evolution in time of the valuations of a set of discrete and continuous variables and is adequate to model the cooperative robot system. Here, virtual force field is used as basic platform for performing the robot motion planning. All the information sensed by the mobile manipulator or received from other mobile robots will produce virtual force fields to guide the mobile robot. Feasibility of this motion planning algorithm is validated via extensive simulations.
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