Design and implementation of test-bed for path planning and formation control of cooperative robotic agents

Robots are primary candidates to perform dangerous but controlled missions. They carry cameras, surveillance instruments, and sensors to collect information and relay their findings to their human operators. Man is continuously challenged to seek uncharted territories such as outer space and the oceans depths. Robot data collection allows for an operator to collect data in environments where it may be unsafe for humans to do so. It also allows for humans to perform inconvenient and tedious tasks such as waiting, and collecting information over long periods of time. In this thesis, we propose to design and implement a test-bed platform, which may be used to control multiple Robots. These robotic platforms are essentially mobile wireless programmable robots with the processing power of a laptop computer. The robots consist of two mechanically motorized differential drive kinematics systems. We then discuss the capabilities of our platform with basic behaviors such as: path-to-goal, avoid-obstacle, maintain relative distance, maintain relative angle (formation), and maintain general speed to form a guidance algorithm. Furthermore we use the kinematic model of a two differential steering systems to derive the inverse kinematic equations, and generate any type of trajectory within the physical constrains of the system.'

Name thesis:degree_name

Electrical Engineering

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Year

2007

Author dc:creator

• Majedi, Mike

Contributors dc:contributor

• Abdallah, Chaouki
• Vadiee, Nader
• Tanner, Herert

• Mobile robots

Language dc:language

English

Repository record dc:identifier

https://digitalrepository.unm.edu/ece_etds/167

OAI identifier oai:identifier

oai:digitalrepository.unm.edu:ece_etds-1166