Bilateral Teleoperation Systems in Human-Swarm Interaction with Coverage Control

• Main Authors: Wei-TaoLi, 李維韜
• Other Authors: Yen-Chen Liu
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/24877929317854019345

碩士 === 國立成功大學 === 機械工程學系 === 104 === Multi-robots system has been developed in recent years to accomplish more complicated tasks. Furthermore, adding a human operation can improve exibility and maneuverability for the control system, which is called the human-swarm system. In this thesis, the environmental information is also added to control framework so that the swarm robot can execute further applications such as exploration or mapping. For the swarm robot system, the eff ects due to human operator and environment are simultaneously combined to the density function. Implementing the coverage control, each robot gather the density function belonging to separate Voronoi partition. Then using the Lloyd controller or TVD-D1 controller to make robots converge to their Voronoi centroids. However, the above approaches need to detect the full range of environment. That is difficult to achieve in real and need great cost or computation. Hence, considering that robots have di fferent sensing ranges, this thesis proposes the novel approach to modify the robot partition so that the robots can move to the modifi ed centroids using proposed controller with the time-varying density function. For the communication between master and swarm robots, considering the situation that the constant time delays exist, the thesis take the states of end-eff ector as the master task space, and the states of robot distribution as the swarm task space. In this framework, the proposed controllers can guarantee the convergence with constant time delays. Besides the mathematical analysis, the full and limited range for coverage control applied to the human-swarm system are validated via numerical simulations and experiments in this thesis.