Implementation of safe and reliable coverage control for multiple mobile robots

This thesis presents some results relating to an implementation of a safe and reliable coverage control algorithm. The application was focused on implementation on differential drive robots developed at the University of Illinois at Urbana-Champaign. Control laws for coverage, avoidance, and proximity were applied to a multi-agent system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Systems & Entrepreneurial Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2013

Author dc:creator

• Rekoske, Richard

Contributors dc:contributor

• Stipanović, Dušan M.

• Coverage Control
• Implementation
• Optitrack
• Motion Capture System
• OMAPL138
• Avoidance Control
• Proximity Control
• Kalman Filter
• Multiple Agents
• Multi-objective

Statement dc:rights

• Copyright 2013 Richard Rekoske

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/45334

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/45334