Design And Implementation Of A Leader Follower Controller For A Wheel Legged Robot

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Design and Implementation of a Leader-follower Controller for a Wheel-legged Robot

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Author : Luc Xuan Tu Phung
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (98 download)

Book Synopsis Design and Implementation of a Leader-follower Controller for a Wheel-legged Robot by : Luc Xuan Tu Phung

Download or read book Design and Implementation of a Leader-follower Controller for a Wheel-legged Robot written by Luc Xuan Tu Phung and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Leader-follower formation control of mobile robots has been investigated by many researchers in the robotics community to control multi-robot systems. This control method can coordinate a team of unmanned vehicles by manoeuvering each robot to maintain its desired position with respect to the leader of the formation. The leader-follower control strategy can also be applied to implement human-follower behaviours on mobile robots. In this thesis, a leader-follower controller was developed for the Micro-Hydraulic Toolkit (MHT), a quadruped wheel-legged robot designed by Defence Research and Development Canada (DRDC) at the Suffield Research Centre. Previously, a velocity-based inverse kinematics controller was designed and implemented on the vehicle to control its posture. However, since the MHT does not have a steering mechanism for its wheels, this controller is unable to execute turning manoeuvres with the robot. Therefore, a separate controller was developed in order to steer the MHT to achieve leader-follower formation control. The purpose of the leader-follower controller is to compute the desired wheel velocities of the robot to reach and maintain a desired range and bearing with respect to a designated leader. To implement the controller on the physical robot, a vision algorithm was developed to measure the range and bearing of the leader with respect to the MHT using a monocular camera. A wide range of leader-follower scenarios was executed in simulation using a high fidelity physics-based model of the Toolkit and on the physical platform of the MHT to assess the performance of the leader-follower controller. The results of these tests demonstrated that the controller developed is successfully capable of executing leader-follower behaviours with the MHT." --

Optimal Leader-Follower Formation Control Using Dynamic Games

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Author : Omid Danesh Shahraki
Publisher :
ISBN 13 :
Total Pages : 70 pages
Book Rating : 4.:/5 (111 download)

Book Synopsis Optimal Leader-Follower Formation Control Using Dynamic Games by : Omid Danesh Shahraki

Download or read book Optimal Leader-Follower Formation Control Using Dynamic Games written by Omid Danesh Shahraki and published by . This book was released on 2015 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation control is one of the salient features of multi-agent robotics. The main goal of this field is to develop distributed control methods for interconnected multi-robot systems so that robots will move with respect to each other in order to keep a formation throughout their joint mission. Numerous advantages and vast engineering applications have drawn a great deal of attention to the research in this field. Dynamic game theory is a powerful method to study dynamic interactions among intelligent, rational, and self-interested agents. Differential game is among the most important sub-classes of dynamic games, because many important problems in engineering can be modeled as differential games. The underlying goal of this research is to develop a reliable formation control algorithm for multi-robot systems based on differential games. The main idea is to benefit from powerful machinery provided by dynamic games, and design an improved formation control scheme with careful attention to practical control design requirements, namely state feedback, and computation costs associated to implementation. In this work, results from algebraic graph theory is used to develop a quasi-static optimal control for heterogeneous leader{follower formation problem. The simulations are provided to study capabilities as well as limitations associated to this approach. Based on the obtained results, a finite horizon open-loop Nash differential game is developed as adaptation of differential games methodology to formation control problems in multi-robot systems. The practical control design requirements dictate state-feedback; therefore, proposed controller is complimented by adding receding horizon approach to its algorithm. It leads to a closed loop state-feedback formation control. The simulation results are presented to show the effectiveness of proposed control scheme.

Design and Implementation of a Model Based Robot Controller

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Author : Steen Michael Linder
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (476 download)

Book Synopsis Design and Implementation of a Model Based Robot Controller by : Steen Michael Linder

Download or read book Design and Implementation of a Model Based Robot Controller written by Steen Michael Linder and published by . This book was released on 1999 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Vision Based Leader-follower Formation Control for Mobile Robots

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Author : Gerard Sequeira
Publisher :
ISBN 13 :
Total Pages : 84 pages
Book Rating : 4.:/5 (235 download)

Book Synopsis Vision Based Leader-follower Formation Control for Mobile Robots by : Gerard Sequeira

Download or read book Vision Based Leader-follower Formation Control for Mobile Robots written by Gerard Sequeira and published by . This book was released on 2007 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Creating systems with multiple autonomous vehicles places severe demands on the design of control schemes. Robot formation control plays a vital role in coordinating robots. As the number of members in a system rise, the complexity of each member increases. There is a proportional increase in the quantity and complexity of onboard sensing, control and computation. This thesis investigates the control of a group of mobile robots consisting of a leader and several followers to maintain a desired geometric formation"--Abstract, leaf iii.

Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots

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Author : Gayan Gamage Don
Publisher :
ISBN 13 :
Total Pages : 264 pages
Book Rating : 4.:/5 (632 download)

Book Synopsis Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots by : Gayan Gamage Don

Download or read book Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots written by Gayan Gamage Don and published by . This book was released on 2009 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Design and Implementation of an Omnidirectional Wheeled Robot Motion Controller

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Author : Daniel John DiLorenzo
Publisher :
ISBN 13 :
Total Pages : 155 pages
Book Rating : 4.:/5 (187 download)

Book Synopsis Design and Implementation of an Omnidirectional Wheeled Robot Motion Controller by : Daniel John DiLorenzo

Download or read book Design and Implementation of an Omnidirectional Wheeled Robot Motion Controller written by Daniel John DiLorenzo and published by . This book was released on 1988 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Design and Implementation of a Flexible Controller for Robot Arm Manipulators

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Author : Angel L. Enriquez
Publisher :
ISBN 13 :
Total Pages : 256 pages
Book Rating : 4.:/5 (284 download)

Book Synopsis Design and Implementation of a Flexible Controller for Robot Arm Manipulators by : Angel L. Enriquez

Download or read book Design and Implementation of a Flexible Controller for Robot Arm Manipulators written by Angel L. Enriquez and published by . This book was released on 1993 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Design and Implementation of an Advanced Robot Controller

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Author : Jonathan Neil Brodkin
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)

Book Synopsis The Design and Implementation of an Advanced Robot Controller by : Jonathan Neil Brodkin

Download or read book The Design and Implementation of an Advanced Robot Controller written by Jonathan Neil Brodkin and published by . This book was released on 1990 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Design and Implementation of Robust Controllers for a Robotic Manipulator

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Author : John E. Ciolfi
Publisher :
ISBN 13 :
Total Pages : 398 pages
Book Rating : 4.:/5 (23 download)

Book Synopsis Design and Implementation of Robust Controllers for a Robotic Manipulator by : John E. Ciolfi

Download or read book Design and Implementation of Robust Controllers for a Robotic Manipulator written by John E. Ciolfi and published by . This book was released on 1990 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Formation Control of Mobile Robots with Leader-follower Approach Using Fuzzy Logic Controller

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Author : Vivek Kumar
Publisher :
ISBN 13 :
Total Pages : 66 pages
Book Rating : 4.:/5 (112 download)

Book Synopsis Formation Control of Mobile Robots with Leader-follower Approach Using Fuzzy Logic Controller by : Vivek Kumar

Download or read book Formation Control of Mobile Robots with Leader-follower Approach Using Fuzzy Logic Controller written by Vivek Kumar and published by . This book was released on 2019 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Design and Implementation of a Cluster Space Trajectory Controller for Multiple Holonomic Robots

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Author : Patrick Charles Connolly
Publisher :
ISBN 13 :
Total Pages : 150 pages
Book Rating : 4.:/5 (713 download)

Book Synopsis Design and Implementation of a Cluster Space Trajectory Controller for Multiple Holonomic Robots by : Patrick Charles Connolly

Download or read book Design and Implementation of a Cluster Space Trajectory Controller for Multiple Holonomic Robots written by Patrick Charles Connolly and published by . This book was released on 2006 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure

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Author : Yusuf Abdul-Razaq
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (133 download)

Book Synopsis Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure by : Yusuf Abdul-Razaq

Download or read book Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure written by Yusuf Abdul-Razaq and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to solve this problem by proposing a novel assignment algorithm that assigns a new leader from the follower robots to ensure robots complete their given task when their leader fails. This algorithm also assign role to new robots joining the group, and also to the failed robot when rescued back to the team. We drive robots towards their desired trajectories to achieve formation using a Lyapunov-based time-varying state tracking controller from the literature. Due to role switching amongst member robots, we propose a limit-cycle obstacle avoidance control algorithm to ensure smooth and collision free transition. Simulations and experiments are performed using the Robot Operating System (ROS) framework due to its flexibility to verify the effectiveness and reliability of the proposed algorithms.

Motion Planning and Control of Differential Drive Robot

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Author : Kaamesh Kothandaraman
Publisher :
ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.:/5 (1 download)

Book Synopsis Motion Planning and Control of Differential Drive Robot by : Kaamesh Kothandaraman

Download or read book Motion Planning and Control of Differential Drive Robot written by Kaamesh Kothandaraman and published by . This book was released on 2016 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion planning and control of a differential drive robot in a supervised environmentis presented in this thesis. Differential drive robot is a mobile robot with two drivingwheels in which the overall velocity is split between left and right wheels. Kinematicequations are derived and implemented in Simulink to observe the theoretical workingprinciple of the robot. A proportional controller is designed to control the motionof the robot, which is later implemented on a physical robot. Combination of linearvelocity and orientation generates individual wheel velocities which are sent to therobot by wireless communication for its motion. Point to point motion and shapes,such as square and circle, are performed to implement and test the robustness of thecontroller designed. Others tasks such as leader-follower, pursuer-evader and obstacledetection and avoidance are carried out using multiple robots. For flexibility of therobot, a GUI software is developed for waypoint assignment for the robots to followthrough. Different systems such as Vicon Camera, Matlab-Simulink, Xbees, QUARCand robots were integrated via software and hardware in the UAV lab at Wright StateUniversity. The camera system used throughout this thesis helps to understand thefunctioning of a GPS. QUARC, Matlab-Simulink, XBees are used in processing andcommunication of data from cameras to the robot.

Design and Implementation of a Torque Compensated Controller for an Industrial Robot Arm

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Author : Arvind Gurudas Betrabet
Publisher :
ISBN 13 :
Total Pages : 222 pages
Book Rating : 4.:/5 (313 download)

Book Synopsis Design and Implementation of a Torque Compensated Controller for an Industrial Robot Arm by : Arvind Gurudas Betrabet

Download or read book Design and Implementation of a Torque Compensated Controller for an Industrial Robot Arm written by Arvind Gurudas Betrabet and published by . This book was released on 1994 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Handbook of Smart Materials, Technologies, and Devices

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Author : Chaudhery Mustansar Hussain
Publisher : Springer Nature
ISBN 13 : 3030842053
Total Pages : 2831 pages
Book Rating : 4.0/5 (38 download)

Book Synopsis Handbook of Smart Materials, Technologies, and Devices by : Chaudhery Mustansar Hussain

Download or read book Handbook of Smart Materials, Technologies, and Devices written by Chaudhery Mustansar Hussain and published by Springer Nature. This book was released on 2022-11-09 with total page 2831 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook brings together technical expertise, conceptual background, applications, and societal aspects of Industry 4.0: the evolution of automation and data exchange in fabrication technologies, materials processing, and device manufacturing at both experimental and theoretical model scales. The book assembles all the aspects of Industry 4.0, starting from the emergence of the concept to the consequences of its progression. Drawing on expert contributors from around the world, the volume details the technologies that sparked the fourth revolution and illustrates their characteristics, potential, and methods of use in the industrial and societal domains. In addition, important topics such as ethics, privacy and security are considered in a reality where all data is shared and saved remotely. The collection of contribution serve a very broad audience working in the fields of science and engineering, chemical engineering, materials science, nanotechnology, energy, environment, green chemistry, sustainability, electrical and electronic engineering, solid-state physics, surface science, aerosol technology, chemistry, colloid science, device engineering, and computer technology. This handbook ideal reference libraries in universities and industrial institutions, government and independent institutes, individual research groups and scientists.

Introduction to Mobile Robot Control

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Author : Spyros G Tzafestas
Publisher : Elsevier
ISBN 13 : 0124171036
Total Pages : 718 pages
Book Rating : 4.1/5 (241 download)

Book Synopsis Introduction to Mobile Robot Control by : Spyros G Tzafestas

Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Sequential Composition of Dynamically Dexterous Robot Behaviors

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Author : Robert R. Burridge
Publisher :
ISBN 13 :
Total Pages : 190 pages
Book Rating : 4.3/5 (91 download)

Book Synopsis Sequential Composition of Dynamically Dexterous Robot Behaviors by : Robert R. Burridge

Download or read book Sequential Composition of Dynamically Dexterous Robot Behaviors written by Robert R. Burridge and published by . This book was released on 1996 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: