Feedback control of many differential-drive robots with uniform control inputs

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2012

Author dc:creator

• Onyuksel, Cem

Contributors dc:contributor

• Bretl, Timothy W.

• Robotics
• Control
• Multi-Robot Control
• Feedback Control
• Differential-Drive Robot
• Unicycle Robot
• Ensemble Control
• Ensemble
• Uniform Inputs

Statement dc:rights

• Copyright 2012 Cem Onyuksel. Figures 1.1 and 1.2 used with permission from IEEE and American Chemical Society.

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/34414

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/34414